Robodanesh

This paper presents the design and development of an autonomous rescue robot by Team RoboDanesh for the RoboCup Rescue Maze competition. The robot is designed to operate reliably in complex and dynamic environments, simulating the challenges of real-world disaster scenarios. Its main capabilities include autonomous navigation, path planning, obstacle and wall detection, ramp traversal, victim identification, and rescue kit deployment.

The robot is built on an integrated mechanical, electronic, and software architecture. The mechanical design emphasizes stability, durability, and modularity, allowing reliable movement over uneven surfaces. The electronics are centered around a main controller supported by custom circuit boards, enabling efficient sensor integration, motor control, and communication. Environmental perception is achieved using VL53L1X distance sensors for walls and obstacles, Microswitches for physical contact, APDS-9960 and IR sensors for surface color recognition, and a CMPS14 digital compass for orientation. The software architecture combines structured navigation and decision-making algorithms with vision-based victim detection. Image processing is handled on a Raspberry Pi 5 using Python and established computer vision libraries. Particular focus was placed on integrating subsystems, validating performance through testing, and refining the robot iteratively. These design choices result in a stable, responsive, and adaptable robot capable of reliable performance in challenging rescue maze scenarios.