Deteksi Arah Gerak Bola dengan Metode Optical Flow pada Robot Penjaga Gawang
Abstract
The goalkeeper robot developed by STMIK Banjarbaru still faces challenges in improving the response to the ball to reduce the possibility of goals being scored by opposing robots. The ability of the robot keeper is currently limited to the starting point of the ball so that when the ball bounces toward the goal, the robot has not been able to predict the end point of the ball, resulting in the movement of the goalkeeper robot, which is sometimes slow in blocking the ball. This research was conducted to develop a detection system of a ball direction using the optical flow method. The Logitech C270 series web camera device is used on a robot with a laptop as a video data processor using Python language. The results show that this system is capable of detecting balls in all five directions or quadrants, including 90°, 135°, 180°, 225°, and 270. The detection results of these directions are represented as position information data, such as a ball in a state of still, right, bottom right, top right, left, top left, bottom left, top, and bottom.
Keywords: goalkeeper; response; ball direction; robot motion;
Abstrak
Robot Penjaga gawang yang dikembangkan oleh STMIK Banjarbaru masih menghadapi tantangan dalam meningkatkan respon terhadap bola agar dapat mengurangi kemungkinan terjadinya gol oleh robot lawan. Kemampuan robot keeper saat ini terbatas pada titik awal bola saja, sehingga ketika bola melambung ke arah gawang, robot belum mampu memprediksi titik akhir bola, dan mengakibatkan pergerakan robot goal keeper yang kadang lambat dalam menghalau bola. Penelitian ini dilakukan untuk mengembangkan sistem deteksi arah gerak bola menggunakan metode optical flow. Perangkat kamera web seri Logitech C270 digunakan pada robot dengan sebuah laptop sebagai pengolah data video menggunakan bahasa python. Hasil penelitian menunjukkan bahwa sistem ini mampu mendeteksi bola di kelima arah atau kuadran antara lain 90°, 135°, 180°, 225°, dan 270. Hasil deteksi arah ini direpresentasikan menjadi data keterangan posisi seperti bola pada keadaan ‘diam’, ‘kanan’, ‘kanan bawah’, ‘kanan atas’, ‘kir’i, ‘kiri atas’, ‘kiri bawah’, ‘atas’, dan ‘bawah’.
Kata kunci: penjaga gawang; respon; arah bola; gerak robot;
References
Kementerian Pendidikan dan Kebudayaan, “Petunjuk Pelaksanaan Kontes Robot Indonesia (Kri),” Pus. Prestasi Nas. Kementeri. Pendidik. dan Kebud., pp. 6–8, 2020.
B. W. Sanjaya, H. Priyatman, J. Teknik, E. Fakultas, T. Universitas, and K. Capek, “Implementasi Logika Fuzzy Pada Robot Beroda Penghindar Halangan Berbasis Arduino Uno R3 dan pengembangan robot diberbagai bidang , robot juga sudah digunakan di,” Juurnal Electr. Eng. Energy, Inf. Technol., vol. 1, no. 1, pp. 1–9, 2017.
U. B. Gohatre, “Estimation of velocity and distance measurement for projectile trajectory prediction of 2D image and 3D graph in real time system,” 2017 Int. Conf. Energy, Commun. Data Anal. Soft Comput., pp. 2543–2546, 2017.
R. A. Fatekha, B. S. B. Dewantara, and H. Oktavianto, “Sistem Deteksi Bola pada Robot Kiper Pemain Sepakbola Beroda,” J. Integr., vol. 13, no. 2, pp. 127–134, 2021, doi: 10.30871/ji.v13i2.3133.
M. I. Moha et al., “Implementasi Kamera 360 Derajat Untuk Mendeteksi Objek Pada Robot Sepak Bola Beroda,” J. Tek. Inform., vol. 14, no. 3, pp. 321–328, 2019, doi: 10.35793/jti.14.3.2019.27123.
A. Abid, M. T. Khan, and C. W. De Silva, “Fault Detection in Mobile Robots using Sensor Fusion,” in The 10th International Conference on Computer Science & Education (ICCSE 2015), 2015, no. Iccse, pp. 8–13.
H. Ponce, J. Brieva, and E. Moya-Albor, “Distance Estimation Using a Bio-Inspired Optical Flow Strategy Applied to Neuro-Robotics,” in Proceedings of the International Joint Conference on Neural Networks, 2018, vol. 2018-July, pp. 1–7, doi: 10.1109/IJCNN.2018.8489597.
Muliady and G. Arisandy, “Implementasi Sistem Gerak Holonomic Pada Robot Krsbi Beroda 2017 Implementation Of Holonomic Motion In Indonesian Soccer Wheeled Robot Contest 2017 Pada Kontes Robot Indonesia 2017 divisi Kontes Robot Sepak Bola Indonesia,” J. Tek. dan Ilmu Komput., vol. 7, no. 25, pp. 9–25, 2017.
A. Aguilar-González, M. Arias-Estrada, and F. Berry, “Depth from a motion algorithm and a hardware architecture for smart cameras,” Sensors, vol. 19, no. 1, pp. 1–20, 2019, doi: 10.3390/s19010053.
A. Solichin, A. Harjoko, and A. E. Putra, “Grid-based Histogram of Oriented Optical Flow for analyzing movements on video data,” in Proceedings of 2015 International Conference on Data and Software Engineering, ICODSE 2015, 2016, no. NOVEMBER, pp. 114–119, doi: 10.1109/ICODSE.2015.7436982.
C. M. Adi, “Implementasi Pergerakan Robot Penjaga Gawang Krsbi (Beroda) Dengan Metode Fuzzy Pid,” Universitas Jember, 2020.
C. Wang and S. Zhao, “Research for Control System of Soccer Robot Based on DSP,” vol. 2, pp. 91–95.
F. Abdessemed and K. Benmahammed, “A Two-Layer Robot Controller Design Using Evolutionary Algorithms,” J. Intell. Robot. Syst., vol. 30, pp. 73–94, 2001.
F. Control, “Navigation of an Autonomous Wheeled Robot in Unknown Environments Based on Evolutionary Fuzzy Control,” inventions, vol. 3, no. 3, pp. 1–14, 2018, doi: 10.3390/inventions3010003.
C. M. Adi, “Implementasi Pergerakan Robot Penjaga Gawang KRBSI (Beroda) dengan Metode Fuzzy Pid,” Universitas Jember, 2020.
F. X. W. Artanto, “Pengontrol Robot Sepak Bola Beroda Wheeled Soccer Robot Controller By,” 2018.
B. Rahmani, A. Harjoko, T. K. Priyambodo, and H. Aprilianto, “Research of smart real-time robot navigation system,” AIP Conf. Proc., vol. 1707, 2016, doi: 10.1063/1.4940854.
B. Rahmani, H. Aprilianto, H. Ismanto, and H. Hamdani, “Distance estimation based on color-block: A simple big-O analysis,” Int. J. Electr. Comput. Eng., vol. 7, no. 4, pp. 2169–2175, 2017, doi: 10.11591/ijece.v7i4.pp2169-2175.
H. Mandala and E. Rudiawan, “Sistem Deteksi Bola Berdasarkan Warna Bola Dan Background Warna Lapangan Pada Robot Barelang FC,” Semin. Nas. Apl. Teknol. Inf., vol. 2016, no. snati, pp. 14–20, 2016.
A. W. Pradana and D. Irmawati, “Pendeteksi Warna dan Bentuk Bola Pada Robot Penjaga Gawang Menggunakan EmguCV,” Elinvo (Electronics, Informatics, Vocat. Educ., vol. 5, no. 1, pp. 21–31, 2020, doi: 10.21831/elinvo.v5i1.20794.
Y. Li and Z. Wang, “RGB Line Pattern-Based Stereo Vision Matching for Single-Shot 3-D Measurement,” IEEE Trans. Instrum. Meas., vol. 70, 2021, doi: 10.1109/TIM.2020. 3041086.
M. L. Bukhori, A. Triwiyatno, and R. R. Isnanto, “The Design of Object Tracking System in Robot Vision Using Circle Hough Transform and CAMSHIFT Methods,” in ICCSET 2018, 2018, pp. 149–156, doi: 10.4108/eai.24-10-2018.2280634.
A. W. Pradana and D. Irmawati, “Pendeteksi Bola Pada Robot Penjaga Gawang Menggunakan Metode Hough Circle,” Elinvo (Electronics, Informatics, Vocat. Educ., vol. 5, no. 1, pp. 21–31, 2020, doi: 10.21831/elinvo.v5i1.20794.
S. N. Larasati, “Rancang Bangun Sistem Deteksi Posisi Bola pada Bidang Datar dengan Metode Template Matching Menggunakan Labview,” Universitas Telkom, 2016.
K. Watanabe, T. Kageyu, S. Maeyama, and I. Nagai, “An Obstacle Avoidance Method by Combing Image-based Visual Servoing and Optical Flow,” in SICE Annual Conference 2015, 2015, pp. 2–7.
D. Daniyah, B. Arifin, and I. M. I. Subroto, “Prediksi Arah Datang Bola Menggunakan Kalman Filter Pada Robot Kiper Sepakbola,” Transmisi, vol. 22, no. 2, pp. 56–61, 2020, doi: 10.14710/transmisi.22.2.56-61.
How To Cite This :
Refbacks
- There are currently no refbacks.
