There are two types of virtual robots in CSR-Rescue simulator. Both types of robots are equipped with 3 ultrasonic sensors, 2 colour sensors, and 1 compass sensor as shown in Fig. 6-1. The sensors are used to detect obstacles/boundaries, colour objects and the robot orientation. The physics models of the two robot are slightly different (such as sensors positions, wheels position, robot weight etc). Hence, the performances may differ when the same program is loaded.

Fig. 6-1: CoSpace Rescue Challenge virtual robots

Sensors

v  3 ultrasonic sensors are fitted at front, left, right and back of the robot. Each sensor feedbacks the distance towards obstacle detected in centimetres. These sensors are also used to detect walls and boundaries.

v  2 colour sensors are mounted at the bottom of the robot. The colour sensor returns R, G, B channel values of the colour object detected. The R G B value ranges from 0 to 255.

v  1 compass sensor is fitted at the back of the robot. It measures the robot’s direction in degrees.  

Fig. 6-2: Robot orientation

Motors (Output)

v  2 independently controlled motors provide power to the robot. “+5” is the maximum forward speed while “- 5” is the maximum backwards speed.

LED (Output)

v  1 LED to indicate robot status when it is collecting or depositing objects.