Design of Computer Vision Based Ball Detection System on Wheeled Robot Soccer

Wheeled robot soccer is a soccer robot that moves with wheels with several capabilities, such as detecting, catching, dribbling, and kicking a ball. A robot soccer requires a system or sensor to detect a ball. The development of computer vision technology enables a computer system to detect a ball using computer vision algorithm. In this research, the system consisting of a camera and a single board computer. The camera is used to capture an image and the single board computer is used to process the image to get ball position on the image. The ball position information is then processed to map the position of the ball. After that, the information of mapping is sent to the robot controller and process it into a movement. Experiments result show that the robot with the designed system is function as designed.