Real-Time Ball Speed Stabilization Acquisition using Low Pass Filter on Robot Soccer ERSOW

摘要

This paper presents the acquisition and stabilization of the ball speed data on the Robot Soccer ERSOW. The skills such as receiving and passing ball needs a good quality of ball speed data, but the ball speed data on robot ERSOW is very unstable. However, we argued that this unstable ball speed data can be minimized using the Low Pass Filter (LPF). The LPF method can reduce the average ball speed changing rate on the speed-x data around 4.57 cm/s on LPF cutoff value 0.75, 4.9 cm/s on cutoff value 0.8, and 8.6 cm/s on cutoff value 0.99. Furthermore, the speed-y is changing from 43.02 cm/s into 12.05 cm/s on LPF cutoff value 0.75, 14.02 cm/s on LPF cutoff value 0.8, and 17.7 cm/s on LPF cutoff value 0.99. The result is quite good because the smaller value of the average speed changing rate indicates the data is more stable.