Real-time Coordinate Estimation for Self-Localization of   the Humanoid Robot Soccer BarelangFC

Susanto Susanto; Taufiq Tegar Pratama; Riska Analia

doi:10.30871/ji.v14i2.4110

Penulis

Susanto Susanto Politeknik Negeri Batam
Taufiq Tegar Pratama Politeknik Negeri Batam
Riska Analia Politeknik Negeri Batam

DOI:

https://doi.org/10.30871/ji.v14i2.4110

Kata Kunci:

Humanoid robot soccer, Localization, Odometry, Monte Carlo Localization (MCL)

Abstrak

Dalam implementasinya, robot humanoid soccer terdiri lebih dari tiga robot di lapangan ketika sedang bermain bola. Semua robot diharapkan dapat memainkan sepak bola seperti manusia seperti mencari, mengejar, menggiring bola dan menendang bola. Untuk melakukan semua perintah tersebut, diperlukan sistem lokalisasi real-time sehingga setiap robot tidak hanya memahami posisi robotnya sendiri tetapi juga robot-robot lain bahkan objek yang berada di sekitar lapangan. Namun dalam implementasi real-time dan karena keterbatasan kemampuan komputasi robot, diperlukan suatu metode komputasi yang cepat dan mampu menghemat banyak memori. Oleh karena itu, dalam makalah ini menyajikan metode implementasi lokalisasi real-time dengan menggunakan metode odometry and Monte Carlo Localization (MCL). Untuk memverifikasi kinerja metode ini, beberapa percobaan telah dilakukan dalam aplikasi real-time. Dari hasil percobaan, metode yang diusulkan mampu mengestimasi koordinat posisi robot pada posisi X dan Y di lapangan ketika sedang bermain bola.

Unduhan

Data unduhan belum tersedia.

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