Wheeled Soccer Robot with Behavior-Based Control Method

Abstract

Technology has developed so rapidly in many ways. One advancement is soccer robots. These robots are divided into humanoid soccer robots and wheeled soccer. Wheeled soccer or soccer wheeled robot uses wheels as actuators. These wheels are 3 Omni-wheel directional. The robot is equipped with CMUCAM 5 Pixy camera sensor with image processing capability. The system is designed with a behavior-based control method. This method fosters robot behavior to perform soccer games. The robot has the behavior of finding the ball, looking for a goal, dribbling, and scoring. When robots cannot be exchanged with the robot so it is necessary to find the ball. It is a very good behavior displacement seen in the dribbling test, given its success rate of 100% from 5 times of testing.