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All Journal Jurnal Presipitasi : Media Komunikasi dan Pengembangan Teknik Lingkungan Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) REKAYASA International Journal of Artificial Intelligence Research The Spirit of Society Journal : International Journal of Society Development and Engagement Jurnal Otomasi Kontrol dan Instrumentasi Jurnal Teknik Elektro dan Komputer TRIAC Applied Technology and Computing Science Journal Infotekmesin Jambura Journal of Electrical and Electronics Engineering Jurnal Elkolind : Jurnal Elektronika dan Otomasi Industri Jurnal Ners Jurnal Pembelajaran Pemberdayaan Masyarakat (JP2M) Journal of Applied Smart Electrical Network and System (JASENS) Journal of Soft Computing Exploration JURNAL POLI-TEKNOLOGI Jurnal Cakrawala Maritim Indonesian Journal of Innovation Multidisipliner Research
Agus Khumaidi
Politeknik Perkapalan Negeri Surabaya
Aerospace Engineering Agriculture, Biological Sciences & Forestry Humanities Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Earth & Planetary Sciences Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Health Professions Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Medicine & Pharmacology Nursing Physics Social Sciences Transportation Other

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Ball Trajectory Estimation on Wheeled Goalkeeper Robot Based on Robot Operating System (ROS2) Using Stereo Vision Sholahuddin Muhammad Irsyad; Dhika Arya Pratama; Muhammad Jardin Saputra; Muhammad Furqon; Agus Khumaidi; Ryan Yudha Adhitya
Jurnal Teknik Elektro dan Komputer TRIAC Vol 13, No 2 (2026): Oktober 2026
Publisher : Jurusan Teknik Elektro Universitas Trunojoyo Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21107/triac.v13i2.35302

Abstract

Wheeled goalkeeper robots require a perception system capable of rapidly detecting and estimating the direction of ball movement under dynamic match conditions. This study aims to implement a ball trajectory estimation system using Stereo Vision within the Robot Operating System (ROS2) architecture. Camera images are processed using You Only Look Once (YOLOv5) to detect the ball and obtain its center coordinates on the image plane, while depth data is used to acquire the ball's distance relative to the camera. The ball position data is then processed using a Kalman Filter to generate state estimations consisting of position and position changes on the image plane. A Constant Velocity model is subsequently used to predict the next position and determine the directional trend of the ball's trajectory. The experimental results show that YOLOv5 is capable of detecting the ball across all test distance variations from 100 to 800 centimeters with a 100 percent success rate. Depth data acquisition yields an average error of 1.37 percent. The integration results of trajectory estimation and prediction demonstrate directional alignment in 9 out of 10 tests, achieving a 90 percent success rate. These results indicate that the integration of Stereo Vision, Kalman Filter, and the Constant Velocity model on ROS2 is capable of generating ball trajectory estimations and predictions to support the perception system of wheeled goalkeeper robots.
Development of a ROS 2 Based Path Planning A* for Opponent Avoidance in Wheeled Soccer Robot Agus Khumaidi; Muhammad Jardin Saputra; Dhika Arya Pratama; Ryan Yudha Adhitya; Sholahuddin Muhammad Irsyad
Jurnal Teknik Elektro dan Komputer TRIAC Vol 13, No 2 (2026): Oktober 2026
Publisher : Jurusan Teknik Elektro Universitas Trunojoyo Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21107/triac.v13i2.35303

Abstract

The Indonesian Wheeled Soccer Robot Contest requires autonomous robots to navigate safely in dynamic environments where opponent robots continuously change their positions. Conventional Single A-star path planning generates the navigation path only once before robot movement, making it unable to adapt to obstacle movement during navigation. This study proposes a ROS 2-based Dynamic A-star path planning system for opponent avoidance in wheeled soccer robots. The proposed system performs real-time path replanning whenever the detected obstacle position changes, enabling the robot to generate an alternative collision-free trajectory. The system was evaluated in the Gazebo simulation environment using eight navigation scenarios and compared with the conventional Single A-star approach. The same robot starting positions and goal locations were used in both approaches, while the Dynamic A-star method extended the baseline configuration from one obstacle to two obstacles, including one moving obstacle. Experimental results showed that the proposed Dynamic A-star method achieved a 100% navigation success rate with a 0% collision rate, whereas the conventional Single A-star algorithm achieved a 0% navigation success rate with a 100% collision rate after obstacle movement. The average travel time increased from 19.50 s for Single A-star to 29.95 s for Dynamic A-star, while the average path length increased from 4.08 m to 6.76 m due to additional detours and path replanning. These results demonstrate that Dynamic A-star improves navigation adaptability and collision avoidance in dynamic environments. In addition, the ROS 2 framework provided real-time communication among perception, path planning, and robot control modules, supporting adaptive autonomous navigation for wheeled soccer robots.
Co-Authors Abdul Hafizh Abyan Faruq Abyan Faruq, Abdul Hafizh Achmad, Vandy Adam Kusumah Adhitiya, Ryan Yudha Adhitya, Ryan Yudha Adi Rahmad Ramadhan Adi Wisnu Sahputera Adianto Adianto Adianto Afianto, Afif Zuhri AGUS DWI SANTOSO Ahmad Erlan Afiuddin Am Maisarah Disrinama Anggarjuna Puncak Pujiputra Ardiana, Mirza Arfianto, Afif Zuhri Arief Subekti Arninputranto, Wibowo Arumsari, Nurvita Astutik, Rina Puji Aulia Della Cornellia Aulia Rahma Annisa Bagus Setiawan, Danis Basuki Rahmat Basuki Rahmat, Mohammad Bayu, Nurissabiqoh Binta Bhakti Bhakti Brendi Prahasta Budi, Perdinan Setia Budiawati, Ratna Budiyanto, Ekky Nur C. I. Sutrisno Cahyadi, Nurahmad Hadi Danis Bagus Setiawan Darmawan, Wahyu Denny Dermawan Dewi Kurniasih Dewi Kurniasih Dhika Arya Pratama Dianita Wardani Dianita Wardani Dika Rahayu Widiana Dimas Pristovani Riananda Endrasmono, Joko Erutan Dwi Sajiwo Fadlol, Muhammad Thoriq Faiz Romadloni Faturrahman, Bima Ferry Budi Cahyono Fitri Hardiyanti Hafid, Mohammad Arigo Al. Hananta A Hasin, Muhammad Khoirul Hendro Agus Widodo, Hendro Agus Ihsania, Tsabita Ii Munadhif Imah Luluk Kusminah Imam Sutrisno Imam Sutrisno Imam Sutrisno Indriawati, Melta Anindya Irfan Marzuqi Irma Rustini Aju Joesianto Eko Poetro Joko Endrasmono Joko Endrasmono Khoirun Nasikhin Kusumah, Adam Lilik Subiyanto Lina Indawati M. Basuki Rahmat M. Basuki Rahmat M. Khoirul Hasin M. Yusuf Santoso Mades Darul Khairansyah Malik, Alfianto Taufiqul Mar’atus Sholihah Mat Syai’in Mifta Aulia Ramadhani Mirna Apriani Mochamad Yusuf Santoso Mohammad Abu Jami’in Mohammad Basuki Rahmat Muhammad Furqon Muhammad Jardin Saputra Muhammad Jardin Saputra Mujtaba Fa'akuli Zazila Mustika Kurnia Mayangsari Nasikhin, Khoirun Oktavia, Shelly Pradana, Rizal Lucky Pristovani Riananda, Dimas Pristovani, Dimas Projek Priyonggo Sumangun Lukitadi Pujiputra, Anggarjuna Puncak Putra, Zindhu Maulana Ahmad Rafsanjani, Zainu Rahmat, M. Basuki Rahmawati, Nanda Putri Riananda, Dimas Pristovani Riko Satrya Fajar Jaelani Putra Rinanto, Noorman Rizal Fahmi Rizal Lucky Pradana Rizky, Sofi Berliana Romadloni, Faiz Ryan Yudha Adhitya Sekarsari Wibowo Setiani, Vivin Setyawati, Emeralda Eka Putri Sholahuddin Muhammad Irsyad Sholahuddin Muhammad Irsyad Sholihah, Mar'atus Sri Wiwoho Mudjanarko, Sri Wiwoho Sryang T Sarena Sufadi Alim Suwandi, Donny Aryo Seno Syai’in, Mat Syai’in Ulvi Pri Astuti Vivin Setiani Wahyudi, Mohammad Thoriq Wibowo, Sekarsari Wisnu Sahputera, Adi Yudha Adhitya, Ryan Yuning Widiarti Zindhu Maulana Ahmad Putra