Omnidirectional Camera untuk Positioning Robot Soccer dengan Metode 2-Fixed-Point
DOI:
https://doi.org/10.31358/techne.v22i2.374Keywords:
omnidirectional, self localization, 2 fixed-point, robot soccerAbstract
Kamera omnidireksional banyak digunakan sebagai sensor utama pada robot soccer yang bertanding dalam kompetisi Robocup Junior League. Hal ini dikarenakan kamera omnidirectional mampu menangkap gambar dari area sekitar robot pada sudut pandang 360 derajat hanya dalam satu frame gambar. Selanjutnya, informasi dari gambar tersebut dapat digunakan untuk menentukan lokasi robot di lapangan. Lokasi yang didapat merupakan data yang sangat penting sebagai dasar untuk menentukan kontrol, strategi, dan koordinasi robot. Pada penelitian ini, sebuah sistem kamera omnidireksional untuk self localization robot soccer dengan metode 2 fixed-point telah berhasil diimplementasikan. Sistem yang dirancang berhasil mendapatkan gambar 360 derajat disekitar robot, sekaligus lokasi robot dilapangan. Dari hasil pengujian, sistem yang dirancang telah berhasil melakukan self localization dengan tingkat akurasi hingga 92,9% pada sumbu x dan 92,1% pada sumbu y.
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Copyright (c) 2023 Arif Irwansyah, Arie Zuliyan Putra, Reesa Akbar
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