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All Journal Bulletin of Electrical Engineering and Informatics Emerging Science Journal Buletin Ilmiah Sarjana Teknik Elektro Journal of Robotics and Control (JRC) Journal of Soft Computing Exploration International Journal of Robotics and Control Systems Signal and Image Processing Letters
Suwarno, Iswanto
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Environmental Science Industrial & Manufacturing Engineering Mechanical Engineering

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Ball Detection System for a Soccer on Wheeled Robot Using the MobileNetV2 SSD Method Puriyanto, Riky D.; Yunandha, Isro D.; Maghfiroh, Hari; Ma'arif, Alfian; Furizal; Suwarno, Iswanto
Emerging Science Journal Vol. 9 No. 5 (2025): October
Publisher : Ital Publication

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28991/ESJ-2025-09-05-028

Abstract

This paper discusses the research on the use of Artificial Intelligence in autonomous robot object identification. The specific focus of this research is on a wheeled soccer playing robot. The goal is to recognize a ball as an object using the Single Shot MultiBox Detector MobileNetV2 model. This system has multi-vision inputs such as distance measurements and angle values ​​for object detection. This methodology is based on deep learning with the TensorFlow Object Detection API with the MobileNetV2 SSD model. This model is trained with a dataset of 3707 ball images over 617 thousand steps on Google Collaboratory. It was found that the average measurement error of the ball object is 6.58% for the distance when viewed through the robot's front camera. In addition, the omnidirectional camera is able to detect the ball object and angle values ​​from the front of the robot. What makes this research different is the use of distance and angle measurements for detection and the omnidirectional camera for system performance in dynamic environments. This research aims to address the improvement of AI-based object detection systems for autonomous robotics in the context of real-world use cases.
Co-Authors Abboud, Sarah Abdulmaged, Riyam Bassim Al Ibrahmi, Elmehdi Al Madani Kurniawan, Aqsha Aldi Bastiatul Fawait Fawait Alfian Ma’arif Aljarhizi, Yahya Ansarifard, Mehdi Asno Azzawagama Firdaus Atashgah, Mohammad Ali Amiri Azlan, Norsinnira Zainul Baballe, Muhammad Ahmad Basil, Noorulden Boulal, Abdellah Cakan, Abdullah Chojaa, Hamid Diab, Ahmed A. Zaki Dwi Ana Ratna Wati Elahian, Samaneh Elsawy, Ahmed M. Fadhil Mohammed, Abdullah Faikul Umam Fawzy, Ibram Y. Furizal Furizal, Furizal Habachi, Rachid Hadoune, Aziz Kamarudzaman, Nohaslinda Lora Khaula Amifia Loulijat, Azeddine Maghfiroh, Hari Maharani Raharja, Nia Mahmoud Zadehbagheri Mahmoud, Magdi S. Marhoon, Hamzah M. Meiyanto Eko Sulistyo Moch. Iskandar Riansyah Mossa, Mahmoud A. Muhammad Amin Muhammad Fuad Murni Murni Nia Maharani Raharja Osman, Mohamad Afwan Ouhssain, Said Puriyanto, Riky D. Rahim Ildarabadi Ridha, Hussein Mohammed Ritonga, Asdelina Samewoi, Abdul Rahman Semma, El Alami Sugiyarta Sugiyarta Wahyu Caesarendra Wijaya, Setiawan Ardi Yamaura, Hiroshi Yunandha, Isro D.