Wheeled Soccer Robots

Project Based Learning

2022-2023
Politeknik Negeri Batam

Batam, 1 Januari 2023

Barelang 63 Team
Email : barelangkrsbi@gmail.com
Instagram : @barelang63
Project Team Members
NO NAME
1 Hendawan Soebhakti
2 Yogy Pratama Project Leader, Programmer
3 Wahidah Izmi Addinah
3 M Revalba Ginggang
4 Nyoman Krisna Prebawa
5 Wanda Eka Kurniawan
6 Nawwafal Dzaki Musthofa
7 Muhammad Yusup
8 Nadhif Suherryman
9 Af Alul Haq Bimasada
10 M Sabiqul Himam
11 Haidar Afnan F
12 Ridwan Bahari
13 Tajdar Hal Ata
POSITION STUDY PROGRAM TASK
Project Manager Robotics Engineering
Mechatronics Engineering Localization, Path Planning, Robot
Kinematic, Robot Strategy, ROS
Programmer Mechatronics Engineering Supporting Robot Communication
Mechanical Design Robotics Engineering Mechanical Design, Drible System
Programmer Robotics Engineering Kinematic, Path Tracking, Keeper
Strategy
Programmer Robotics Engineering Basestation, Robot Strategy AI
Programmer Robotics Engineering Vision System
Electrical Design Robotics Engineering Electronics System , Microcontroller
Electrical Hardware Robotics Engineering Electrical System, Kicker
Electrical Hardware Mechatronics Engineering Supporting Electrical System
Programmer Mechatronics Engineering Supporting Robot Kinematic
Programmer Robotics Engineering Supporting Vision System
Electrical Design Electrical Engineering Supporting Electronics System
Mechanical Robotics Engineering Supporting Mechanical Design
Outlines
1. Problem Statement
2. Driving Question
3. Project
4. Design System
5. Current Work
6. Current Problem
Problem Statement
• How to Make Proper Mechanical Robot
• How to Make Proper Electrical System Robot
• How the robot can move properly, according to the
resulting trajectory path
• How can robots do Communicate to every other robot
team.
• How the robot can play autonomously with our own
strategy
(AI)
Driving Question
• How can we build wheeled robots that can play a soccer
that comply with Robocup Middle Size League (MSL) rule
2023
• What is Middle Size League
• What is Wheeled Robot Soccer
• How is the Mechanical, and Electrical Design
• How about Robot System
• What is the Output of this Project
• What is the Next Plan
Previous & Present of Works
Previous Works (2022)
• Two robots with 3 omniwheels
• ROS platform
• YOLO real time object detection
• Omni Vision, Depth Camera
• Vision-based Particle Filter
localization
• Base station for simple command
(Run, Stop, Home)
Current Works (2023)
• Upgrade using Industrial Maxon motors
• Build 5 robots
(4 stricker, 1 goalkeeping )
• Build Basestation as a center command for all Robots for
Robot Strategy with Behaviour Tree or Decision Tree
• Proper Communication for Robots
• Improve Robots Movements Precission
• Improve Robots Ability for Dribbling & Passing
• Robot Path Planning using (RRT)
• Path Tracking
Current Technologies
• Deep Learning for Object Recognition
• Particle Filter for Resampling Localization
• Stereo Camera for Object Distance Measurement
• Robotic Operating System (ROS)
• Path Planning using Rapid-exploring Rando Tree( RRT )
• Omnidirectional Camera for Object Detection 360° of
View
• Solenoid Kicking system
• Multicast Communication
Mechanical Design
Hardware Diagram
PCB Design
Robot System
 Vision System

• Omni Directional Camera

- Color Segmentation / blob Analysis
- Ball Detection (Angle and distance)
- Obstacle Detection(Angle and Distance)

• Stereo Camera ( ZED )

- Deep Learning by YOLO
- Goal Detection (Angle and Distance)
- Landmark Detection (Distance)
 Comunication System
• Communication between the referee and the
BTS uses the TCP protocol over a direct
ethernet cable.
• Communication between the robot and the
base station uses socket programming with
the UDP protocol which is connected
wirelessly.
YOLO
Color Segmentation
Basestation
 Robot Kinematic

• PID Positioning
Input :
- Goal Position
- Current Position
Output :
- Robot Movement
Robot Localization
Object Localization
Robot Strategy
Robot Path Planning
 Project Timeline
Market Analysis
Concept Feasibility
Development Rough Prototype
Concept Development
Cost Estimates Sep 01 – Sep 25
Architectures
System Sub-systems
System Design
Design Refine Design Sep 26 – Okt 5
Make-buy Analysis
Complete Definition
Materials
Detail Design
Detail Design
Tooling Okt 6 – Okt 30
Quality Control Def.
Produce
Product Fabrication
Produce
Evaluate Nov 1 – Des 2
Test & Refine Product Testing
Test & Refine
Refine Process
Commissioning
Jan 1 – Jan 12
Others
IP, Paper, Tech. doc
Budget
Thank You