Open Access Open Access  Restricted Access Subscription or Fee Access

Ball Position Estimation in Goal Keeper Robots Using Neural Network


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/ireaco.v13i1.18504

Abstract


Many developments have been done in object tracking for humanoid robot soccer, but no specific research has been done in goal keeper robots in the wheeled robot soccer category.  This paper makes a goal keeper robot that can map or transform ball position information from omni-camera images into cartesian images using a neural network. This paper can also divide the area of the flat field transformed into a grid area based on the size of the robot. The support system uses image enhancement and kalman filter in order to obtain a better image. Kalman filter has been used to maintain the existence of the ball. This system has been created with real ball data on the cartesian field. It has been called a data set, divided into training data and testing data. The percentage combination of data sets and the number of hidden nodes affects the accuracy of the transformation results. This new proposed model has been useful for omni to cartesian images transformation and cartesian to grid images conversion that can be used to determine the blockade area of ball.
Copyright © 2020 Praise Worthy Prize - All rights reserved.

Keywords


Omni to Cartesian; Cartesian to Grid; Neural Network; Ball Position Estimation; Goal Keeper Robot

Full Text:

PDF


References


Caceres, C., Rosário, J., Amaya, D., Design, Simulation, and Control of an Omnidirectional Mobile Robot, (2018) International Review of Mechanical Engineering (IREME), 12 (4), pp. 382-389.
https://doi.org/10.15866/ireme.v12i4.13974

El Kari, B., Ayad, H., El Kari, A., Mjahed, M., Pozna, C., Design and FPGA Implementation of a New Intelligent Behaviors Fusion for Mobile Robot Using Fuzzy Logic, (2019) International Review of Automatic Control (IREACO), 12 (1), pp. 1-10.
https://doi.org/10.15866/ireaco.v12i1.14802

Jiménez-Moreno, R., Pinzón-Arenas, J., New Hybrid Fuzzy-CNN Architecture for Human-Robot Interaction, (2019) International Review of Automatic Control (IREACO), 12 (5), pp. 236-241.
https://doi.org/10.15866/ireaco.v12i5.17816

S. R. Santosa, B. S. B. Dewantara, and I. K. Wibowo, Ball Detection Under Variety Lighting using Omnidirectional Camera, in 2019 International Electronics Symposium (IES), 2019, pp. 235–240.
https://doi.org/10.1109/elecsym.2019.8901617

I. K. Wibowo, M. A. Haq, M. M. Bachtiar, B. S. B. Dewantara, and F. L. H. Ihsan, “Ball Detection using Local Binary Pattern in Middle Size Robot Soccer (ERSOW), in 2019 2nd International Conference of Computer and Informatics Engineering (IC2IE), 2019, pp. 29–32.
https://doi.org/10.1109/ic2ie47452.2019.8940835

M. A. A. Mamun, M. T. Nasir, and A. Khayyat, Embedded System for Motion Control of an Omnidirectional Mobile Robot, IEEE Access, vol. 6, pp. 6722–6739, 2018.
https://doi.org/10.1109/access.2018.2794441

M. I. Mas’udi, M. L. Afakh, F. Ardilla, I. K. Wibowo, and B. S. Marta, Implementation of PID Control in Active Ball Handling System of Middle Size Robot Soccer, in 2018 10th International Conference on Information Technology and Electrical Engineering (ICITEE), 2018, pp. 242–247.
https://doi.org/10.1109/iciteed.2018.8534941

E. Febrianto, V. P. Priandiri, and K. Mutijarsa, Hardware Implementation in Developing Wheeled Soccer Robot for Middle Size League, in 2018 International Conference on Information Technology Systems and Innovation (ICITSI), 2018, pp. 342–346.
https://doi.org/10.1109/icitsi.2018.8695929

C. S. Putra, F. Fahleraz, A. Widyotriatmo, and K. Mutijarsa, Multilayer Control for Coordinating Three - Wheeled Omnidirectional Mobile Robots, in 2019 6th International Conference on Instrumentation, Control, and Automation (ICA), 2019, pp. 182–187.
https://doi.org/10.1109/ica.2019.8916737

B. P. Veronese, I. F. Okuyama, F. C. R. Pinheiro, M. R. O. A. Maximo, and L. C. S. Góes, Experimental measurement of parameters for modeling a differentia drive soccer robot, in 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR), 2017, pp. 1–6.
https://doi.org/10.1109/sbr-lars-r.2017.8215329

H. Shi, Z. Lin, S. Zhang, X. Li, and K.-S. Hwang, An adaptive decision-making method with fuzzy Bayesian reinforcement learning for robot soccer, Information Sciences, vol. 436–437, pp. 268–281, Apr. 2018.
https://doi.org/10.1016/j.ins.2018.01.032

Hu, Y. Sun, X. Li, Y. Jiang, and M. Yu, “Cam-shift target tracking approach based on back projection method with distance weights, in 2016 International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR), 2016, pp. 252–257.
https://doi.org/10.1109/icwapr.2016.7731649

A. N. Fitriana, K. Mutijarsa, and W. Adiprawita, Color-based segmentation and feature detection for ball and goal post on mobile soccer robot game field, in 2016 International Conference on Information Technology Systems and Innovation (ICITSI), 2016, pp. 1–4.
https://doi.org/10.1109/icitsi.2016.7858232

A. K. Mulya, F. Ardilla, and D. Pramadihanto, Ball tracking and goal detection for middle size soccer robot using omnidirectional camera, in 2016 International Electronics Symposium (IES), 2016, pp. 432–437.
https://doi.org/10.1109/elecsym.2016.7861045

D. Vere, R. Jaka, and J. Hvizdo, Neural Network Based Ball Tracking for Robot Nao, in 2016 International Conference on Intelligent Networking and Collaborative Systems (INCoS), 2016, pp. 80–85.
https://doi.org/10.1109/incos.2016.45


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize