The Competition

In the CoSpace Rescue Challenge, teams develop and program appropriate strategies for autonomous robots to navigate through a virtual environment, collecting objects and avoiding obstacles along the way.

Project Layout

Refer to the TDP for more information.

Main Program

Contains the C++ code for the robot.

External Scripts

Contains a few helper scripts for converting the original bmp to an integer array representing the map (generate mapData.hpp).

Setup

1. Download CoSpaceRobot Simulator (https://cospacerobot.org/download/cospace-rescue-download)
2. Download g++ Compiler Toolchain for Windows 32bit (https://sourceforge.net/projects/mingw-w64/files/Toolchains%20targetting%20Win32/Personal%20Builds/mingw-builds/8.1.0/threads-posix/dwarf/)
3. Obtain original map.bmp from CsBot application folder; use helper scripts to generate mapData.hpp
4. Copy mapData.hpp to Main Program folder
5. Make a few more changes to the program based on the map
6. Run Build.bat
7. Select the dll for red/blue robot and run the Simulator

Videos

https://www.youtube.com/playlist?list=PLIiXUtD1ITQgM67tc36gdv7UKwYlbLlcg

Future Development

The project can be further improved. Posible ideas are listed below.

• Replace A* with more advanced algorithms such as Any-Angle Path Finding (Theta*, Anya)
• More advanced Odometry, in both world 1 and 2
• Varying ultrasonic values based on wheel speeds
• Revamp the entire codebase to improve ease of reading
• Neural network (requires a complete project overhaul)

Discord

You can join our Discord Server to discuss anything related to CoSpace Rescue.

Disclaimer

The code was written under heavy time constraints during the competition and thus does not follow common coding standards and best practices.