Optimization of Chasing and Catching Skills on Robot Soccer ERSOW

Abstract

The wheeled soccer robot competition is held annually in Indonesia and internationally through the Indonesian Robot Contest and Robocup Middle Size League (MSL) competitions. The rate of occurrence of the ball moving freely on the field during the match is quite high. At this time the movement of the ERSOW robot to catch the ball is by chasing and following the path of the ball on the field without taking into account the speed of the ball. The movement of the ERSOW Robot with this method is very vulnerable and can still be optimized. The ball is very susceptible to failure to be caught due to being controlled by the opponent or the ball being out. In addition, chasing the ball requires a longer time due to the path of the robot that continues to change following the current position of the ball movement. So the development of robot skills in chasing and blocking the ball is needed to increase the chance of controlling the ball. Based on the results of the literature study, was found a ball blocking ability on the soccer ball intercept robot. This research is focused on how the robot can chase and catch the ball with the ability to intercept. The robot’s ability to know the direction of the ball’s movement and cut the ball’s movement or intercept is needed. By utilizing data processing from vision to obtain ball speed data and speed algorithm calculations, a more optimal method of chasing and catching the ball is obtained. Based on the results of the 180-degree angle experiment, the success of ERSOW in catching the ball using this method was 94.7%.