Dobyvani hradu 2026

[m3d]

This is code used for competition "Dobyvani hradu 2026" (castle "Divci Kamen"). The idea was to combine small Matty robot with bit delivery robot Pat. Newly LIDAR (stream vanjee.scan10) was used as primary source for road detection. The only criteria was smoothness. Also trivial collision avoidance was in place as the robot is relatively heavy and can be dangerous.

There were several (unresolved) issues:

• communication between Matty and Pat was not even tested, but Matty M03 was used as "smart GoPro" with GPS, IMU etc
• there is no filtering or hysteresis - max_speed if there is no obstacle in a narrow cone, full stop if there is something within 1m
• bright Sun cased many false detection
• smooth slope on the side of the road was often selected as an alternative to real road

Although it was not perfect, Pat was mostly autonomously navigating back from the pub to the parking lot (max_speed=1.0):

Distance:	2.87 km		Average speed:	2.77 km/h
Total ascent:	261 m		Avg. moving speed:	3.07 km/h
Total descent:	174 m		Maximum speed:	5.66 km/h
Total time:	1:02:12.0		Moving time:	0:55:47.0

[m3d]

One more comment from AI is that if the whole space is free (VanJee returns 0) then the robot will stop instead of moving - this was maybe the case of bright sun ... (postponed to further analysis)