Odometry Method and Rotary Encoder for Wheeled Soccer Robot

Abstract

The purpose of the study was to odometry method and rotary enconder for wheeled soccer robot. There are several methods to determine the accurate position of soccer robot movement in a room where the other is the best chosen odometry method. The method of determining the position of the wrong movement is used on the soccer robot. The researchers of soccer robot keep doing research and development, including the researchers from Indonesia. In Indonesia, there is a robot contest that is called Kontes Robot Indonesia (KRI) which has five categories, one of them is a Kontes Robot Sepak Bola Indonesia. In KRSBI there are 2 division. That are Humanoid robot and wheeled robot. Wheeled Soccer Robot has many ability such as searching ball, searching goal keeper, avoid the enemies, control the wheel’s speed and define the robot coordinate. In this research focused to determine the position of wheeled robot in the room. In previous research, previous authors used the Global Positioning System (GPS) and only know the position of robots outdoors. If a wheeled robot is applied indoors with the GPS method having an error (0.18%). Base on that condition, author use 3 Omni-wheels as the movement tool and use odometry method to define the position of the robot. This robot used Arduino as it main controller. Besides, rotary encoder is used to produce pulse for indicating movement, position, and direction of the robot which will go to the target of the ball. The author is expected to be able determine the coordinates of the robot in accordance with the actual robot position in the room and implement the odometry method to adjust the speed of the motor. Results from this research is position of odometry method (0.13%). Conclusion of this research odometry method more higher accuracy then GPS method.