Position and Obstacle Avoidance Algorithm in Robot Soccer
Awang H. Pratomo, Anton S. Prabuwono, Mohd S. Zakaria, Khairuddin Omar, Md J. Nordin, Shahnorbanun Sahran, Siti N.H.S. Abdullah and Anton Heryanto
DOI : 10.3844/jcssp.2010.173.179
Journal of Computer Science
Volume 6, Issue 2
Problem statement: Robot soccer is an attractive domain for researchers and students working in the field of autonomous robots. However developing (coding, testing and debugging) robots for such domain is a rather complex task. Approach: This study concentrated on developing position and obstacle avoidance algorithm in robot soccer. This part is responsible for realizing soccer skills such as movement, shoot and goal keeping. The formulation of position and obstacle avoidance was based on mathematical approach. This formula is to make sure that the movement of the robot is valid. Velocity of the robot was calculated to set the speed of the robot. The positioning theory including the coordination of the robot (x,y) was used to find the obstacle and avoid it. Results: Some simulations and testing had been carried out to evaluate the usefulness of the proposed algorithms. The functions for shooting, movement and obstacle avoidance had been successfully implemented. Conclusion: The results showed its possibility could be used as strategy algorithms in real robot soccer competition.
© 2010 Awang H. Pratomo, Anton S. Prabuwono, Mohd S. Zakaria, Khairuddin Omar, Md J. Nordin, Shahnorbanun Sahran, Siti N.H.S. Abdullah and Anton Heryanto. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.