Our Algorithm\Idea for Target tracking

[nileshp87]

So, let me preface this by saying that I think this sounds near ridiculous, but for some reason makes logical sense if you sit and think about it. If you have any criticisms\ideas please let us know because its a very uncommon idea.

So, the first thing we decided was that we had to somehow shoot the ball into the hoop. This is a simple kinematic formula, and everything can be calculated if you view each side as a Cartesian plane. If you know your position non the field you can figure out where to aim. We are going to cross the barrier by hitting it with wheels, so using a z accelerometer and a boolean we will keep track of which side of the field we are on.

If the robot is facing the hoop on the starting side of the field we let the point 0,0 be in the left corner on the hoop wall.

Sensors we use:
1 ultrasonic on the midpoints of each side of the robot, and 2 more on the back corners of the robot facing backwards for a total of 6 ultrasonics.
3 encoders, 2 on the driving toughboxes, and 1 on the turretting wheel that angles the shooter left and right.
1 gyro and 1 accelerometer.
3 touch sensors for detecting the number of balls in our clip.

Getting initial position:
drive backwards and detect the distance difference between the back left and back right distance sensors to grab initial angle.
rotate to 0 degrees, and 27 - back distance gives y location
drive backwards while continuously checking if the right + left + width of the robot add up to 27. if they do that is the x value.

Keeping track of position:
constantly check if the robot position can be worked out using the distance sensors with trig\distance sensors. When it can't be use gyro value.
Double integrate the acceleration to get distance in each direction while the values from the distance sensors don't give proper values (since other robots can get in the way).
Keep track of the side using the z-axis accelerometer, and finding what value it has to hit.
Encoders can compare distance traveled to get the angle and distance to compare with accelerometer (least trusted value though because robot can slide\be pushed).

We have also considered using 2 accelerometers and gyros to ensure we are getting good values.

Any input on the feasability of this idea?

We are programming in Java.