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Daniel Sutopo Pamungkas, Daniel Sutopo
Politeknik Negeri Batam
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Journal : International Journal of Electrical and Computer Engineering

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Tiny-YOLO distance measurement and object detection coordination system for the BarelangFC robot Susanto, Susanto; Ricardo Silitonga, Jony Arif; Analia, Riska; Jamzuri, Eko Rudiawan; Pamungkas, Daniel Sutopo
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 6: December 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i6.pp6926-6939

Abstract

A humanoid robot called BarelangFC was designed to take part in the Kontes Robot Indonesia (KRI) competition, in the robot coordination division. In this division, each robot is expected to recognize its opponents and to pass the ball towards a team member to establish coordination between the robots. In order to achieve this team coordination, a fast and accurate system is needed to detect and estimate the other robot’s position in real time. Moreover, each robot has to estimate its team members’ locations based on its camera reading, so that the ball can be passed without error. This research proposes a Tiny-YOLO deep learning method to detect the location of a team member robot and presents a real-time coordination system using a ZED camera. To establish the coordinate system, the distance between the robots was estimated using a trigonometric equation to ensure that the robot was able to pass the ball towards another robot. To verify our method, real-time experiments was carried out using an NVDIA Jetson NX Xavier, and the results showed that the robot could estimate the distance correctly before passing the ball toward another robot.
Co-Authors A.Rizki Saputra Abdullah Sani Abdullah Sani Abdurrahman Dwijotomo Aditya Gautama Darmoyono Aditya Gautama Darmoyono Aditya Hanafi Adlian Jefiza Ahmad Fauzy Daulay Ahmad Hamim Thohari Ahmad Prasetya Dilaga Al-Tsurayya, Maw’Izhah Aliza, Siti Zurina Amanda Martiza Rayhan Amanda Rafini Amiruddin Amiruddin Anastasya Andaresta Pelmelay Anderson Pasaribu Andy Triwinarko Apriyan Hidayat Ardian Budi Kusuma Atmaja Ardian Budi Kusuma Atmaja Arif Wahyu Budiarto Arif Wahyu Budiarto Arini Dewi Lestari Situmorang Aryeni, Illa Bayu Prayogo Setiawan Bayu Prayogo Setiawan Bismar Siregar, Bismar Catur Agus Lukitasari Daniel Indra Saputra Manurung Darmoyono, Aditya Gautama Dirgan Timbang Dodi Radot Lumbantoruan Dodi Radot Lumbantoruan E Samosir, Precelia Eka Mutia Lubis Eko Rudiawan Jamzuri F Prebianto, Nanta Fadhil Al Fadjri, Muhammad Fajar Rizki Futra, Asrizal Deri Ganda Surya Gautama, Adytia Geraldo Panjaitan Ginting, Pedro Imanuel Gozali, Muhammad Syafei Hanah Khoirunnisa Handri Toar Hanifah Widiastuti Hartono Hartono Hasanuddin, Mohammad Hasnira Hasnira Herlina Sanjaya Nainggolan Heru Wijanarko Ica Apriana Ilham Febrianto Indra Daulay Indra Daulay K L N Suciningtias, Ika Kamarudin Kamarudin Lindawani Siregar M. Alung Chaiyura Chanpal Mahdaliza, Rahmi Metta Santiputri Michael Paul Smart Simbolon Muhammad Prihadi Eko Wahyudi Muhammad Syafei Gozali Muhammad Yusuf Al Qadri Muhammad Zaenuddin Muhammad Zainuddin Lubis Nadhrah Wivanius Nadrah Wivanius Nesa Aqila Nizam, Farhan Noper Ardi Novita Ayu Dewanti Nur Sakinah Asaad Nur Sakinah Asaad Oktani, Dessy Parulian Pakpahan Pasaribu, Cindy Kristine Perdi Novanto Sihombing Qoriatul Fitriyah R Pangestu, Urip Rahman, Adam Rahmawati, Zahira Rahmi Mahdaliza Rahmi Mahdaliza Ricardo Silitonga, Jony Arif Risandriya, Sumantri K Riska Analia Rizky Pratama Hudhajanto Rizky Pratama Hudhajanto Rokhayati, Yeni S Sirait , Eha Sabrina, Raja Sakdiah Sakdiah Sani, Abdulah Saragi, Elsa Setiawan, A. Rido Shendy Saputra Siskha Handayani, Siskha Siti Aisyah Siti Aisyah suharni, ela ayu Sumantri Kurniawan Risandriya Sumantri Kurniawan Risandriya Susanto Susanto Swono Sibagariang Tambak, Josua Adrian Purba Tanu Dwitama Wenang Anurogo Wicaksono, Muhammad Jaka Wimbang Y D Salwa, Rafiqah Yudiarta, Geri Yulfiana Harini Zulmi, Muhammad Afif