Tiny-YOLO distance measurement and object detection coordination system for the BarelangFC robot

Abstract

A humanoid robot called BarelangFC was designed to take part in the Kontes Robot Indonesia (KRI) competition, in the robot coordination division. In this division, each robot is expected to recognize its opponents and to pass the ball towards a team member to establish coordination between the robots. In order to achieve this team coordination, a fast and accurate system is needed to detect and estimate the other robot’s position in real time. Moreover, each robot has to estimate its team members’ locations based on its camera reading, so that the ball can be passed without error. This research proposes a Tiny-YOLO deep learning method to detect the location of a team member robot and presents a real-time coordination system using a ZED camera. To establish the coordinate system, the distance between the robots was estimated using a trigonometric equation to ensure that the robot was able to pass the ball towards another robot. To verify our method, real-time experiments was carried out using an NVDIA Jetson NX Xavier, and the results showed that the robot could estimate the distance correctly before passing the ball toward another robot.