* Corresponding Author
Hide
Show all
Pendeteksian Bola untuk Robot Sepak Bola Humanoid Berbasis Pengenalan Pola
https://doi.org/10.22146/ijeis.18108 Fauzi Nur Iswahyudi(1*), Bakhtiar Alldino Ardi Sumbodo(2)
(1) Universitas Gadjah Mada
(2) Departemen Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
(*) Corresponding Author
Abstract
Humanoid soccer robot is one of popular developed robot. RoboCup is a competitive competiton of humanoid robot soccer. The rule of RoboCup changed by the time, the previous orange ball changed by white ball which is same color as the field line and the goal. Accordingly, in this research designed a white ball detection system for humanoid soccer robot based on pattern recognition. Histogram of Oriented Gradient (HOG) and Support Vector Machine (SVM) method are used in this research for feature extraction and classification. The result of this research is a system that be able to detect ball in humanoid soccer robot environment. The system tested by sliding window parameter testing, the distance of ball to robot testing, different light intensity testing, and other object testing. The conclusions of this research are: optimal detection is obtained by using 8x8 win_stride parameter size and 1,2 scale0 parameter value, maximum distance of detection with 32×32 window detector is 180 cm and with 64×64 window detector is 140 cm, the response of system in different light intensity is good enough, and the success rate of system against other obstacle object with 32×32 window detector is 68% and with 64×64 window detector is 99%.
Keywords
Full Text:
PDFReferences
[1]Kitano, A. dan Asano, M., 2000, The RoboCup humanoid challenge as the millennium challenge for advanced robotics, Advanced Robotics, vol. 13, no. 8, pp. 723–737.
[2] Gerndt, R., Seifert, D., Baltes, J., Sadeghnejad, S. dan Behnke, S., 2015, Humanoid Robots in Soccer – Robots Versus Humans in RoboCup 2050, IEEE-RAS Robotics & Automation Magazine.
[3] Majid, I.A., Afrisal, H., Rahman, R.N., Putra, H., Luknanto, B.K., Wildana, F.A., Yusuf, J.S., Iswahyudi, F.N., Riyadi, A.F., Sulistyo, R., Hafidz, I.P., Sigit, D.P., Syarafina, F., Sumbodo, B.A.A. dan Cahyadi, A.I., 2014, Ball Anticipation Method using Linear Regression for Humanoid Soccer Robot Goalie, Indonesian Symposium on Robot Soccer Competition, Yogyakarta.
[4] Prayitno, Y.P., Harianto dan Wibowo, M.D., 2012, Rancang Bangun Aplikasi Pendeteksian Bentuk dan Warna Benda pada Mobile Robot Berbasis Webcam, Jurusan Sistem Komputer, STIKOM Surabaya.
[5]Coath, G., Musumeci, P., 2003, Adaptive Arc Fitting for Ball Detection in RoboCup, Proceedings of APRS Workshop on Digital Image Analysing, pp. 63-68, Brishbane, Australia.
[6] Dalal, N. dan Triggs, B., 2005, Histograms of Oriented Gradients for Human Detection, Proceedings - 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, I, pp.886–893.
[7] Farazi, H., Allgeuer, P. dan Behnke, S., 2015, A Monocular Vision System for Playing Soccer in Low Color Information Environments, The 10th Workshop on Humanoid Soccer Robots.
[8] Quattoni, A., Eecs, U.C.B. dan Torralba, A., 2013, Recognizing Indoor Scenes 32 Vassar St, IEEE Conference on Computer Vision and Pattern Recognition.
[9] Nugroho, A.S., Witarto, A.B. dan Handoko, D., 2003, Support Vector Machine (Teori dan Aplikasinya dalam Bioinformatika), Proceeding of Indonesian Scientific Meeting in Central Japan, Gifu.
[10]Joachims, T., 1999, Making Large-Scale SVM Learning Practical, Advances in Kernel Methods - Support Vector Learning, pp.41–56.
[11] Fawcett, T., 2006, An introduction to ROC analysis, Pattern Recognition Letters, 27, pp.861– 874.
DOI: https://doi.org/10.22146/ijeis.18108
Article Metrics
Abstract views : 5023
| 
views : 3377
Refbacks
- There are currently no refbacks.
Copyright (c) 2017 IJEIS (Indonesian Journal of Electronics and Instrumentation Systems)
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
View My Stats1