Fuzzy Logic Implementation on Motion of Tennis Ball Picker Robot

The role of the tennis ball picker robot is to work to pick up tennis balls that are on the court after they are not used in a match. The tennis ball picker robot is an implementation of a vision-based robot designed to use object tracking techniques in tracking an object by utilizing digital image processing. This process gives the robot the ability to know the motion of the tennis ball. In this research, the robot will track the position of a tennis ball which has the characteristics of color, shape and size. Pixy2 CMUcam5 image sensor use to detect the tennis ball, while to control the position of the robot uses the fuzzy logic method. Input from fuzzy logic is the x and y coordinate points of the tennis ball's position towards the robot. The output of the fuzzy logic is the speed of the motor actuator on the robot wheel to move the robot to detected tennis ball position. Infrared sensor can detect tennis ball as far as 100 cm and tennis ball position point is detected by Pixy2 CMUcam5 camera sensor at coordinates (169, 170). By using the fuzzy logic method the robot can pick up a tennis ball at the 7th second.