ROS Based Software Framework for Kid-Size Humanoid Marathon Robot

Eko Rudiawan Jamzuri, Hanjaya Mandala, Jacky Baltes

研究成果: 書貢獻/報告類型會議論文篇章

摘要

This paper presents a ROS based software framework for kid-size humanoid marathon robot. Marathon track identification was solved by using colour filtering and contour selection approach. Two-stages ConvNet object detection algorithm with colour-based region proposal was proposed to recognize a marker with train accuracy 99.92% and validation accuracy 99.87%. The ConvNet based object detector is run on a mini-computer with Intel Core i3 processor and reached 41.13 FPS processing speed. In order to perform behaviour control, the robot implemented a PID controller for head movement and a proportional controller for line follower behaviour. Finite State Machine is used to control high-level behaviour for performing navigation in the marathon track. The proposed software framework was applied to robot that won the Iran FIRA RoboWorldCup Open 2019 and Taiwan Humanoid 2019 competition.

原文英語
主出版物標題Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781728128078
DOIs
出版狀態已發佈 - 2019 十月
事件2nd International Conference on Applied Engineering, ICAE 2019 - Batam, 印度尼西亚
持續時間: 2019 十月 22019 十月 3

出版系列

名字Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019

會議

會議2nd International Conference on Applied Engineering, ICAE 2019
國家/地區印度尼西亚
城市Batam
期間2019/10/022019/10/03

ASJC Scopus subject areas

  • 人工智慧
  • 電腦科學應用
  • 工程(雜項)
  • 廢物管理和處置
  • 控制和優化

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