View unanswered posts | View active topics It is currently Sat Aug 27, 2016 4:31 pm

 Page 1 of 1 [ 3 posts ]
 Print view Previous topic | Next topic
NXT Copter with Optimal Control
Author Message
Rookie

Joined: Fri Mar 21, 2008 8:00 pm
Posts: 20
Location: Spain
NXT Copter with Optimal Control
Hi,

This is my last Project, where I've developed a new technology (CACM-RL) to control Nonlinear and Unstable Robots, like aircrafts, Xcopters, cars, anything, without any mathematical model, because I've applied auto-learning to autodiscover the platform and Optimal Control to obtain the Optimal Controller... obviously.

http://youtu.be/cKHisPFz56U

I've used NXT to develop this demo, but I will like someone knock to my door with a interesting challeng and money.

I hope you like, and I appreciate any support...

_________________
Nobody knows what you're capable ... until you get down to it.

Fri Nov 01, 2013 11:31 am
Senior Roboticist

Joined: Wed Sep 28, 2011 10:13 pm
Posts: 630
Location: If I told you, I'd have to kill you.
Re: NXT Copter with Optimal Control
That is quite interesting! Very smooth and precise control! Any chance of seeing the source code?

_________________
A.K.A. inxt-generation
Self-proclaimed genius, and future world dominator.
My Brickshelf Folder
"Don't they teach recreational mathematics anymore?" - The Tenth Doctor
Bow down to Nikola Tesla, King of the Geek Gods.

Fri Nov 01, 2013 11:45 am
Rookie

Joined: Fri Mar 21, 2008 8:00 pm
Posts: 20
Location: Spain
Re: NXT Copter with Optimal Control
The algorithm is under Patent, but the basic idea is to estimate the vector state (Th, Vth), and look into a Optimal Control Table, the optimal action associated to this state, iteratively.

In this way the NXT computation is very light, because it only has to look into a memory cell addressed by the status vector.

The dificulty is to construct the Optimal Control Table. It's a checkerboard where each state has one action.... the optimal, and the algoritm to construct this table is based in Reinforcement Learning, to avoid in this way to have to work with a math-model.

_________________
Nobody knows what you're capable ... until you get down to it.

Fri Nov 01, 2013 12:03 pm
Display posts from previous:  Sort by
 Page 1 of 1 [ 3 posts ]

#### Who is online

Users browsing this forum: No registered users and 1 guest

 You cannot post new topics in this forumYou cannot reply to topics in this forumYou cannot edit your posts in this forumYou cannot delete your posts in this forumYou cannot post attachments in this forum

Search for:
 Jump to:  Select a forum ------------------ ROBOTC Applications    ROBOTC for LEGO MINDSTORMS       Third-party sensors    ROBOTC for CORTEX & PIC    ROBOTC for VEX IQ    ROBOTC for Arduino    Robot Virtual Worlds    Multi-Robot Communications    Issues and Bugs Competitions & Partners    Mini Urban Challenge    CS2N Robot Virtual Worlds Competitions       VEX Skyrise Competition 2014-2015       VEX Toss Up 2013-2014       FTC Block Party! 2013-2014    Competitions using VEX - BEST, TSA, VEX, and RoboFest!    FTC Programming    RoboCup Junior and Other ROBOT Competitions Virtual Brick Robotics Discussions    General Discussions    Project Discussions Off-Topic ROBOTC Forum & ROBOTC.net Suggestions/Feedback    ROBOTC Forums Suggestions/Comments    ROBOTC.net Suggestions/Comments       NXT Programming: Tips for Beginning with ROBOTC       VEX Programming: Tips for Beginning with ROBOTC    2013 Robotics Summer Of Learning       VEX Toss Up Programming Challenge       FTC Ring It Up! Programming Challenge    International Forums       Spanish Forums          ROBOTC for MINDSTORMS          ROBOTC for VEX       French Forums          ROBOTC pour Mindstorms          ROBOTC pour IFI VEX       Japanese Forums （日本語のフォーラム）       German Forums    2015 Spring Carnival Event    PLTW (Project Lead The Way)    Robotics Merit Badge    2014 Robotics Academy Summer of Learning