A Penerapan Kontrol PID dalam Penggiring Bola pada Robot Sepak Bola Beroda
Abstract
Abstrak— Makalah ini membahas implementasi sistem kontrol dalam penggiring bola yang diterapkan untuk bersaing dalam kompetisi Liga Ukuran Menengah RoboCup dan Kontes Robot Indonesia. Desain visualisasi digunakan sebagai landasan untuk mengembangkan mekanisme penggiring bola yang sesuai dengan regulasi RoboCup. Mekanisme ini dirancang agar memiliki fleksibilitas optimal saat robot bergerak translasi. Pendekatan kontrol Proportional Integral Derivative (PID) diterapkan sebagai metode kontrol pada sistem penggiring, bertujuan untuk mengatur respons motor dribble dan menjaga bola tetap terkendali saat robot bergerak dengan kecepatan yang bervarasi atau dalam keadaan diam. Bagian hasil penelitian mengungkapkan respons sistem penggiring bola pada kecepatan mulai dari 20cm/s hingga 120cm/s pada gerak maju dan mundur, pada kecepatan 20cm/s sampai 60cm/s pada gerak lateral. Selain itu, dengan kecepatan 0.2rad/s hinggal 1.5rad/s pada gerak berputar ke arah kanan dan kiri.
Downloads
References
H. Soebhakti, M. R. Fauzi, T. H. Ata, and W. E. Kurniawan, “Coach Application for Soccer Robot,” Jan. 2024, doi: 10.4108/EAI.7-11-2023.2342934.
W. Yao, W. Dai, J. Xiao, H. Lu, and Z. Zheng, “A simulation system based on ROS and Gazebo for RoboCup Middle Size League,” 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, pp. 54–59, 2015, doi: 10.1109/ROBIO.2015.7414623.
B. Kusumo Putro and et. al, Buku Pedoman Kontes Robot Indonesia Tahun 2023, 1st ed. Jakarta: Balai Pengembangan Talenta Nasional Pusat Prestasi Nasional, Kemendikbudristek, 2023.
M. Asada and al et, Middle Size Robotic League Rules and Regulations for 2023, Version 24.0 2022. France: Robocup, 2022.
A. Abdulameer, M. Sulaiman, M. S. M. Aras, and D. Saleem, “Tuning methods of PID controller for DC motor speed control,” Indonesian Journal of Electrical Engineering and Computer Science, vol. 3, no. 2, pp. 343–349, Aug. 2016, doi: 10.11591/ijeecs. v3.i2.pp343-349.
R. P. Borase, D. K. Maghade, S. Y. Sondkar, and S. N. Pawar, “A review of PID control, tuning methods and applications,” International Journal of Dynamics and Control, vol. 9, no. 2. Springer Science and Business Media Deutschland GmbH, pp. 818–827, Jun. 01, 2021. doi: 10.1007/s40435-020-00665-4.
M. A. Hariyadi, J. N. Fadila, and H. Sifaulloh, “433Mhz based Robot using PID (Proportional Integral Derivative) for Precise Facing Direction,” JOIV: International Journal on Informatics Visualization, vol. 7, no. 3, pp. 991–999, Sep. 2023, doi: 10.30630/JOIV.7.3.1841.
P. Chotikunnan and R. Chotikunnan, “Dual Design PID Controller for Robotic Manipulator Application,” Journal of Robotics and Control (JRC), vol. 4, no. 1, pp. 23–34, Feb. 2023, doi: 10.18196/JRC.V4I1.16990.
F. A. Widodo and K. Mutijarsa, “Design and implementation of movement, dribbler and kicker for wheeled soccer robot,” 2017 International Conference on Information Technology Systems and Innovation, ICITSI 2017 - Proceedings, vol. 2018-January, pp. 200–205, Jul. 2017, doi: 10.1109/ICITSI.2017.8267943.
R. Barua, S. Mandal, and S. Mandal, “Motion Analysis of A Mobile Robot With Three Omni-Directional Wheels,” 2015. [Online]. Available: www.ijiset.com.
J. Ren, C. Xie, J. Xiao, K. Huang, and H. Lu, “A control system for active ball handling in the RoboCup middle size league,” in Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016, Institute of Electrical and Electronics Engineers Inc., Aug. 2016, pp. 4396–4402. doi: 10.1109/CCDC.2016.7531777.
K. Kimura, S. Chikushi, and K. Ishii, “Evaluation of the Roller Arrangements for the Ball-Dribbling Mechanisms Adopted by RoboCup Teams,” Journal of Robotics, Networking and Artificial Life, vol. 6, no. 3, pp. 183–190, Dec. 2019, doi: 10.2991/JRNAL.K.191203.002.
M. Gijs Van, “An alterable dynamic model of a ball-handling mechanism — Eindhoven University of Technology research portal.” Thesis, Accessed: Jun. 19, 2024. [Online]. Available: https://research.tue.nl/en/studentTheses/an-alterable-dynamic-model-of-a-ball-handling-mechanism.
S. Timo van der, “Development of a low-cost solution for the ball handling mechanism for a football robot — Eindhoven University of Technology research portal”, Thesis, Accessed: Jun. 19, 2024. [Online]. Available: https://research.tue.nl/en/studentTheses/development-of-a-low-cost-solution-for-the-ball-handling-mechanis.
S. Chikushi, T. Weerakoon, T. Sonoda, and K. Ishii, “Ball Dribbling Control for RoboCup Soccer Robot,” Proceedings of International Conference on Artificial Life and Robotics, vol. 22, pp. 416–420, Jan. 2017, doi: 10.5954/ICAROB. 2017.OS22-3.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License (Attribution-ShareAlike 4.0 International (CC BY-SA 4.0) ) that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
Open Access Policy
This journal provides immediate open access to its content on the principle that making research freely available to the public supports a greater global exchange of knowledge.
Its free availability on the public internet, permitting any users to read, download, copy, distribute, print, search, or link to the full texts of these articles, crawl them for indexing, pass them as data to software, or use them for any other lawful purpose, without financial, legal, or technical barriers other than those inseparable from gaining access to the internet itself.
