NDLI: Application of Intelligent Control to the 2007 FIRST Robotics Competition

Content Provider	IEEE Xplore Digital Library
Author	Dicken, G. Butler, N. Kutch, M.E. Erickson, J.E.
Copyright Year	2007
Description	Author affiliation: Watching Hills Reg. High Sch., Warren (Dicken, G.; Butler, N.; Kutch, M.E.)
Abstract	FIRST (For Inspiration and Recognition of Science and Technology) is a non-profit organization that organizes several robotics competitions for pre-college students. The FIRST robotics competition (FRC) is a high school level competition wherein high school students work with engineers to design and control a device to compete in the competition. The 2007 FRC presented a control problem centered on collision control and target tracking. Our strategy for the competition required the automated acquisition, tracking, controlled contact, and pushing of the opponent robot during the autonomous period. For acquisition of the target, data gathered from ultrasonic range sensors provides information related to the location of target robots. Following processing of the raw input data, and artificial neural network decides which target to pursue. Once this target is acquired, the contact is controlled using a fuzzy controller. Using range to target and closing speed as inputs, a fuzzy controller determines motor drive. This allows intuitive adjustment of the controller, varying the number, center, and shape of membership functions. The fuzzy collision controller has been preliminarily tested. The key to this control is to approach the target with sufficient speed to close the distance quickly, make contact with slow closing speed to avoid ramming, and then maximize the motor drive to push the opponent. Using Gaussian membership functions allows smooth transition between the classes while allowing easy modification of the controller. This method has given the appropriate outputs in controlled calibration and experimentation.
Starting Page	1
Ending Page	4
File Size	2313946
Page Count	4
File Format	PDF
ISBN	9781424412853
DOI	10.1109/SIEDS.2007.4373993
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent control Intelligent robots Automatic control Robotics and automation Fuzzy control Educational institutions Target tracking Robot sensing systems Motor drives Shape control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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