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Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino

This paper presents a real-time tennis ball retrieval system, using computer vision and a blind LEGO MINDSTORMS EV3 robot. Our system tackles the tennis ball retrieval issue of lacking ball boys, during professional or amateur matches. This system is able to identify the location of a tennis bal...

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Main Authors: Eng, Sheh Ling, Scavino, Edgar
Format: Article
Language:English
Published: UiTM Press 2015
Subjects:
Algorithms
Online Access:https://ir.uitm.edu.my/id/eprint/62981/1/62981.pdf
https://ir.uitm.edu.my/id/eprint/62981/
https://jeesr.uitm.edu.my/v1/
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spelling my.uitm.ir.629812022-06-28T09:43:31Z https://ir.uitm.edu.my/id/eprint/62981/ Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino Eng, Sheh Ling Scavino, Edgar Algorithms This paper presents a real-time tennis ball retrieval system, using computer vision and a blind LEGO MINDSTORMS EV3 robot. Our system tackles the tennis ball retrieval issue of lacking ball boys, during professional or amateur matches. This system is able to identify the location of a tennis ball in the whole tennis court, to drive a robot along a fast trajectory while avoiding collisions with players. Semantic information on the court is captured using a webcam, which is located randomly near the external border of the tennis court with a flexible height. The image is then processed using a mapping algorithm to correlate pixels in the image and points on the actual tennis court. The camera location is evaluated by comparing the lines of the tennis court in reality and in the image. Feature extraction and computer vision techniques are used to detect the tennis ball and the player, which are found with margins of 4.5 cm and 45 cm respectively. To optimize the ball retrieval process, a genetic algorithm is applied to define the optimal trajectory with fulfilling multiple objectives for the robot to travel, arrive and retrieve a tennis ball. MATLAB is used to process image extraction and processing, to evaluate the mapping algorithm, and to define the trajectory optimization on the image of the tennis court. UiTM Press 2015-12 Article PeerReviewed text en https://ir.uitm.edu.my/id/eprint/62981/1/62981.pdf Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino. (2015) Journal of Electrical and Electronic Systems Research (JEESR), 8: 4. pp. 23-29. ISSN 1985-5389 https://jeesr.uitm.edu.my/v1/
institution Universiti Teknologi Mara
building Tun Abdul Razak Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Mara
content_source UiTM Institutional Repository
url_provider http://ir.uitm.edu.my/
language English
topic Algorithms
spellingShingle Algorithms
Eng, Sheh Ling
Scavino, Edgar
Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino
description This paper presents a real-time tennis ball retrieval system, using computer vision and a blind LEGO MINDSTORMS EV3 robot. Our system tackles the tennis ball retrieval issue of lacking ball boys, during professional or amateur matches. This system is able to identify the location of a tennis ball in the whole tennis court, to drive a robot along a fast trajectory while avoiding collisions with players. Semantic information on the court is captured using a webcam, which is located randomly near the external border of the tennis court with a flexible height. The image is then processed using a mapping algorithm to correlate pixels in the image and points on the actual tennis court. The camera location is evaluated by comparing the lines of the tennis court in reality and in the image. Feature extraction and computer vision techniques are used to detect the tennis ball and the player, which are found with margins of 4.5 cm and 45 cm respectively. To optimize the ball retrieval process, a genetic algorithm is applied to define the optimal trajectory with fulfilling multiple objectives for the robot to travel, arrive and retrieve a tennis ball. MATLAB is used to process image extraction and processing, to evaluate the mapping algorithm, and to define the trajectory optimization on the image of the tennis court.
format Article
author Eng, Sheh Ling
Scavino, Edgar
author_facet Eng, Sheh Ling
Scavino, Edgar
author_sort Eng, Sheh Ling
title Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino
title_short Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino
title_full Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino
title_fullStr Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino
title_full_unstemmed Tennis court mapping and trajectory optimization for robotic object retrieval / Eng Sheh Ling and Edgar Scavino
title_sort tennis court mapping and trajectory optimization for robotic object retrieval / eng sheh ling and edgar scavino
publisher UiTM Press
publishDate 2015
url https://ir.uitm.edu.my/id/eprint/62981/1/62981.pdf
https://ir.uitm.edu.my/id/eprint/62981/
https://jeesr.uitm.edu.my/v1/
_version_ 1738513996000002048
score 13.211869

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