2023 – TDP – iRAP ROBOT – RoboCupRescue – Robot

This paper introduces and enhanced functionality and design of our robot, iRAP ROBOT, which boasts a proud history of competing in the World RoboCup Rescue Robot under different names: iRAP PRO, iRAP JUDY, iRAP FURIOUS, iRAP JUNIOR, and iRAP ROBOT teams. During our participation in the World RoboCup Rescue Robot 2022 in Bangkok, Thailand, we encountered obstacles with the Negotiate Leaning Objects (MAN4) mission, specifically limitations in crossing obstacles and autonomously operate in dexterity tasks. In this Team Description Paper, we present updated information for the World RoboCup Rescue Robot 2023 in Bordeaux, France, focusing on the development and refinement of hardware and software to support autonomous operations. Our robot’s caterpillar-type locomotion mechanism still utilizes garden hose pieces as traction tracks for the caterpillar chain, making it easier to traverse inclined surfaces. The robot’s ability to identify the victim is facilitated by a range of sensors, including a magnetic sensor, a thermal camera, and cameras. Additionally, the robot can be programmed to move automatically in the radio drop zone and the ability to generate an explored map while detecting hazmat and QR codes.