Fuzzy Logic Implementation on Motion of Tennis Ball Picker Robot

2021 IEEE International Conference on Communication, Networks and Satellite (COMNETSAT) Pub Date : 2021-07-17 DOI:10.1109/COMNETSAT53002.2021.9530815

Faizah Faizah, A. Triwiyatno, R. Isnanto

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Abstract

The role of the tennis ball picker robot is to work to pick up tennis balls that are on the court after they are not used in a match. The tennis ball picker robot is an implementation of a vision-based robot designed to use object tracking techniques in tracking an object by utilizing digital image processing. This process gives the robot the ability to know the motion of the tennis ball. In this research, the robot will track the position of a tennis ball which has the characteristics of color, shape and size. Pixy2 CMUcam5 image sensor use to detect the tennis ball, while to control the position of the robot uses the fuzzy logic method. Input from fuzzy logic is the x and y coordinate points of the tennis ball's position towards the robot. The output of the fuzzy logic is the speed of the motor actuator on the robot wheel to move the robot to detected tennis ball position. Infrared sensor can detect tennis ball as far as 100 cm and tennis ball position point is detected by Pixy2 CMUcam5 camera sensor at coordinates (169, 170). By using the fuzzy logic method the robot can pick up a tennis ball at the 7th second.

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网球捡球机器人运动的模糊逻辑实现

捡网球机器人的作用是捡起赛场上未在比赛中使用的网球。摘网球机器人是一种基于视觉的机器人，利用数字图像处理技术对目标进行跟踪。这个过程使机器人能够知道网球的运动。在这项研究中，机器人将跟踪网球的位置，网球具有颜色，形状和大小的特征。使用Pixy2 CMUcam5图像传感器来检测网球，同时使用模糊逻辑方法来控制机器人的位置。模糊逻辑的输入是网球对机器人位置的x和y坐标点。模糊逻辑的输出是机器人轮子上的电机执行器将机器人移动到被检测网球位置的速度。红外传感器可以探测到远至100 cm的网球，网球位置点由Pixy2 CMUcam5相机传感器在坐标(169,170)处探测。利用模糊逻辑方法，机器人可以在第7秒捡起一个网球。

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2021 IEEE International Conference on Communication, Networks and Satellite (COMNETSAT)

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