TY - GEN
T1 - Room Searching Robot Based on Door Detection and Room Number Recognition for Automatic Target Shooter Robot Application
AU - Muharom, Syahri
AU - Masfufiah, Ilmiatul
AU - Purwanto, Djoko
AU - Mardiyanto, Ronny
AU - Prasetyo, Budi
AU - Asnawi, Saiful
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2021
Y1 - 2021
N2 - Parameters of room are the presence of a door and room number, where to detected room need a system that can detected part of room. From it the researcher created a robot that can detected room target based on door and room number recognition. The way robot in finding a room is by tracing the corridor of the room by using the PID control method, PID value Kp = 5, Ki = 2 and Kd = 0.4, from it, the robot movement is stable with value is 55 RPM. To find room target the robot’s way of detecting a room is by recognizing the door frame, which is first processed using the Hough-transform method, where the results of it will be eventually processed as a parameter of a room door. After it the system will match the corresponding image to the existing image storage using template matching. After the door detection, the system will capture the image of the room, and process using OCR method and template matching. The experiment of robots in recognizing room doors has a success rate of 81.8%, while the success rate of robots in detecting room numbers is 84.6%, this result is due to the change of illumination level in the corridor of a room, and the size of the room number that affects the robot’s recognition. The result of experiment that has been done, the robot has a 88.8% success rate in finding the room, and has a time of 43–65 s from the robot’s starting point. From result, the researcher expected to be applied to the shooter robot application.
AB - Parameters of room are the presence of a door and room number, where to detected room need a system that can detected part of room. From it the researcher created a robot that can detected room target based on door and room number recognition. The way robot in finding a room is by tracing the corridor of the room by using the PID control method, PID value Kp = 5, Ki = 2 and Kd = 0.4, from it, the robot movement is stable with value is 55 RPM. To find room target the robot’s way of detecting a room is by recognizing the door frame, which is first processed using the Hough-transform method, where the results of it will be eventually processed as a parameter of a room door. After it the system will match the corresponding image to the existing image storage using template matching. After the door detection, the system will capture the image of the room, and process using OCR method and template matching. The experiment of robots in recognizing room doors has a success rate of 81.8%, while the success rate of robots in detecting room numbers is 84.6%, this result is due to the change of illumination level in the corridor of a room, and the size of the room number that affects the robot’s recognition. The result of experiment that has been done, the robot has a 88.8% success rate in finding the room, and has a time of 43–65 s from the robot’s starting point. From result, the researcher expected to be applied to the shooter robot application.
KW - Door detection
KW - Hough transform
KW - Number recognition
KW - OCR
KW - PID
KW - Shooter robot
KW - Template matching
UR - http://www.scopus.com/inward/record.url?scp=85105933536&partnerID=8YFLogxK
U2 - 10.1007/978-981-33-6926-9_4
DO - 10.1007/978-981-33-6926-9_4
M3 - Conference contribution
AN - SCOPUS:85105933536
SN - 9789813369252
T3 - Lecture Notes in Electrical Engineering
SP - 43
EP - 54
BT - Proceedings of the 1st International Conference on Electronics, Biomedical Engineering, and Health Informatics - ICEBEHI 2020
A2 - Triwiyanto, T.
A2 - Nugroho, Hanung Adi
A2 - Rizal, Achmad
A2 - Caesarendra, Wahyu
PB - Springer Science and Business Media Deutschland GmbH
T2 - 1st International Conference on Electronics, Biomedical Engineering, and Health Informatics, ICEBEHI 2020
Y2 - 8 October 2020 through 9 October 2020
ER -