ROBOCUP JUNIOR RESCUE MAZE OPTIMAZE TEAM MEMBERS: JASMINE LVOV, MATAN KARAIM, NOAM KALMAR MENTOR: MAXIM LVOV COUNTRY: ISRAEL Jasmine Lvov Matan Karaim Noam Kalmar Head of design, hardware, and electronics Head of software Head of victim recognition software National Soccer lightweight Entry Vice National OnStage Champion(2023-2025) National OnStage Champion(2023-2025) Champion (2022) Europian Vice OnStage Champion(2023) Europian Vice OnStage Champion(2023) National Soccer lightweight Entry Europian OnStage Champion(2025) Europian OnStage Champion(2025) Champion (2023) National Rescue Maze Champion (2026) National Rescue Maze Champion (2026) National OnStage Champion (2024-2025) Europian OnStage Champion(2025) National Rescue Maze Champion (2026) Victim recognition Arduino and Raspberry Pi Communication All of the code related to the cameras, letter, and cognitive victim recognition doesn’t run The robot's main processor is the Arduino on the Arduino but on the Raspberry Pi. Mega 2560, which uses C++ and is in charge The raspberry searches both cameras for a of receiving and analyzing information from potential letter or target. the sensors, controlling the motors, Once he has a potential, to be sure, he begins navigating the maze, and dropping the a scan in which he checks several times what rescue kits. the victims type. To recognize a letter victim, The secondary processor is the Raspberry Pi, it searches for pixel sequences and compares that rans Python; it's in charge of processing them to a previously seen example of each of the images received from the cameras. the three victim letters to check for a match. When it recognizes a victim, it sends the To find a cognitive target, it finds a circle and Arduino a message via serial communication, samples pixels from each layer to check for its and the robot reacts accordingly. color. In the end, when the Raspberry is sure of the victim’s type, it sends the Arduino the appropriate serial message so he could react accordingly. Hardware Navigation and Mapping The robot is fully designed in Fusion360 and brought to life using laser cutting anfd 3d printing. The robot uses a combination of an Arduino and a Raspberry Pi 4 since the Arduino isn’t The robot navigates the maze by using real-time sensor feedback strong enough to process the image received from the camera. with dynamic mapping and a Breadth First Search (BFS) algorithm. The robot has four Time-of-Flight (ToF) distance sensors and a For navigating in the maze, the robot uses a combination of VL53L0X Tof, TCS34725 color BNO055 gyroscope, which allows it to know how much distance sensors, and Bno055 imu to detect the walls, the different colored tiles, and stay aligned in he passed, straighten in the corridors, and make turns. the middle of the corridor. At each new tile, the distance sensors scan for walls, constantly For driving, the robot uses 4 25ga-370 (with the L298N motor driver) and 4 Omni wheels. In updating the robot’s internal map. the past, we tried making our own wheels, but since they were 3d printed and we didn’t If the robot detects an open, unvisited adjacent tile, it chooses manage to make them have enough grip, we switched to Omni wheels. the direct path and moves towards it. To indicate the current state of the robot and if victims are found, we have an LCD screen However, when the robot encounters a dead end or finds itself and 2 LED strips, one for the victim type and one for the current status, with 4 LEDs to mark surrounded only by walls and already visited tiles, it initiates the where the walls are. BFS algorithm to determine its next move based on the map generated so far. The robot is powered by a portable charger for the Raspberry Pi and a 12V lithium battery for the rest of the robot. They are placed between the levels so that they don’t throw off the The algorithm calculates the shortest way from the robot's center of mass. current position to all accessible cells, effectively identifying the closest unvisited tile in the entire maze. Once this target is The kit deployment mechanism uses a stepper motor with a kick leg, and the kits sit in an L- selected, the algorithm computes the fastest route to get there, shaped tube to avoid accidentally losing kits while driving or having too many kits fall when allowing the robot to efficiently backtrack and continue its treating a victim. exploration without getting stuck. To avoid accidentally getting stuck in the gaps between the walls the robot has a rounded front extantion.