paper: Vision Processing and Frisbee Shooter Controller Design

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Vision Processing and Frisbee Shooter Controller Design
by: jesusrambo

This paper explores vision processing technique for the 2013 Ultimate Ascent game, and discusses the math behind constructing an autonomous multivariable shooter controller.

This paper outlines a vision processing algorithm used during the 2013 FIRST Robotics Competition game Ultimate Ascent by FIRST Team 2035. The vision processing was performed off robot on the driver station laptop and relevant information was provided to the robot over the arena network, which improved the robot response time considerably when compared to processing on the on-board cRIO. This vision processing scheme won the Innovation in Control Award sponsored by Rockwell Automation at the Silicon Valley Regional. Once the robot sees the field targets, it estimates the distance to the target. A Frisbee shooter controller can then estimate the Frisbee flight path and choose shooter aim angle to improve the chance of gaining points.

Vision_Processing_and_Frisbee_Control.pdf (1.38 MB)