Algoritma Menghindari Lawan pada Robot Barelang 7.1
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Date
2018-06-06
Authors
Tinambunan, Devi Gusnaensi
Journal Title
Journal ISSN
Volume Title
Publisher
Politeknik Negeri Batam
Abstract
KRI is an Indonesia robot contest which consists of 4 main categories and one of them
is the Indonesia Soccer Robot Contest (KRSBI). On the rules during the game of Wheeled
KRSBI, the robots are strictly forbidden to hit or push the opponent robot. If that is the case
then the robot will get a yellow card. The robots also are at risk of getting a red card then
ejected from the field if the robot hits an opponent with a bang. To prevent this, the author has
designed an algorithm to avoid and reduce the intensity of a robot doing a physical contact
with opponents. The algorithm was formed from the combination of vision cameras and
sensors ping. The camera will detect the opponent robot based on the color of its identity.
Color identity must be filter for separating it from the background so it can be identified. The
filter used is the color filter HSV plus filter erosion, dilation, and controls the blob. The
opponent's robot detection is also facilitated with the use of a Parallax Ping sensor. Sensors
ultrasonic wave shooting into the opponent's robot and then receive back the reflections so that
known distance between them. After testing done against this system, robot Barelang 7.1 can
detect opponent robots with good result. The robot can detect his opponent from a distance of
50 cm to 5.5 meters. Once detected, the robot would avoid his opponent while approximately
≤ 40 cm.
Description
Keywords
Teknik Elektro, Manajemen dan Ilmu yang Berkaitan, Teknik dan Ilmu yang Berkaitan