A New Kicker System of Wheeled Soccer Robot ERSOW Using Fuzzy Logic Method

Technological advances that occur today also have an impact on the development of technology in the world of robotics, on the world scale there is an international scale research organization called Robocup which focuses on the development of soccer robots. The RoboCup organization itself has a vision and goal to build a football robot team that will be competed with the winners of the world cup in 2050. The Robocup Competition has several divisions, one of which is the Middle Size League (MSL) which matches the wheeled soccer robot. The wheeled soccer robot itself has various abilities such as searching the ball, determining the goal point, avoiding the opponent, feed the ball to a friend s robot until the execution process kicking the ball into the opponent's goal. The ability to kick the ball is something that must be possessed by a soccer robot. The focus of this project is to create a new kicker system to be able to improve the ability to kick the ball on the wheeled soccer robot which is then controlled using the implementation of the fuzzy logic controller method, the method serves as the controller of a system or process by using fuzzy logic as a way of making decisions, so robots can kick with variations in distance and height of the ball that has been determined. The decision-making process with fuzzy logic was then given two inputs namely the falling ball distance and the height of the ball which is processed with a fuzzy logic method then produces an output power of kicking and touch angle kicker with the ball. The power of the kick is divided into 5 parts, namely very slow in the numbers 0 - 170 RPM, slow is in the numbers 180-220 RPM, middle 230-270 RPM, fast in numbers 280 - 320 RPM, and very fast in numbers 330 - 400 RPM. With maximum kick power and kicker angle of 50^o produces a maximum distance of 110 cm and a maximum height of 30 cm, the minimum distance that can be taken is 10 cm and a minimum height of 1 cm with a speed of 200 RPM and kicker angle of 65^o. Based on the results of testing the kick to the ball using the fuzzy logic controller method has an average error of 0.008%.