Sistem Deteksi Gawang Pada Robot Barelang 7.1

Abstract

A soccer robot must be able to drive and kick the ball towards the goal in a soccer game. A soccer robot must be equipped with a goal detection system using camera as the main sensor. The majority problem is intensity of light can affect successful introduction of white goal, where the level of light intensity can cause brightness of a color different so it is difficult to detect a color. In this research developed a detection system by using a combination of contour detection and color filtering. The results show success rate of 85.18%, where the system can detect goal in range of distance from 1.5 m to 9 m. System testing is performed on three different positions: left, center, and right. The system created has an average process speed of 27.47 fps (frames per second) which indicates that the value is categorized as normal for an image processing system.