Heading Calibration in Robot Soccer ERSOW using Line Landmark on The Field

This paper will present the heading calibration which is used on the Ersow's robot using line sensors. The robot must have the capabilities of avoiding obstacles, kicks the ball, and localization. All of those abilities are dependent on the robot heading data in the form of an angular degree unit. The drawback of the heading data is getting worse when the sensor is activated in a long period. This happens because IMU sensor is drifting along the time that causes a shifting orientation perception. This condition will create an enormous error in the robot system. The proposed way to solve this problem is calibrating the IMU data each necessary. The robot is placed in the field by looking for unique features. In this case, is the horizontal lines. We are using a microcontroller-based line sensor with an independent embedded microcontroller. The purposes of using the line sensors are the fast computation and the cheapest hardware to be built. The line sensor is expected to produce deviation data that is eligible to send towards Artificial Intelligent processed. Based on the result of the experiment average error by drifting robot heading -1.67 degree in every minute. The average error value with robot speed at 10 cm/s is 2.1 degree, at 50 cm/s is 1 degree, at 100 cm/s is 0.7 degree, and at 150 cm/s is 1.2 degree. The accuracy of this calibration method obtained as 99.65%. This improvement will make the robot increasing the accuracy of position estimation in the field.