Sumo Robot Duel: Sensor FOV & Ring-Edge Strategy

Blue Bot Strategy

Sensor field of view 70°

Sensor range 3.2 m

Charge speed 1.6 m/s

Attack strategy

Live Telemetry

Blue stateSEARCH

Red stateSEARCH

Distance to opponent

— m

Blue edge margin

— m

Push force

0.0 N

Round time

0.0 s

Blue wins

Red wins

How it works

Both bots run a real finite-state controller like a mini-sumo competition robot (RoboCup / FIRST-style club builds):

SEARCH  → rotate in place, scanning
CHARGE  → opponent inside FOV cone and range → drive straight at it
EDGE    → own distance to ring center > R_ring − r_bot − margin
          → highest priority: turn back toward center

Detection is a field-of-view test done with the dot product between the bot's forward heading ĥ and the unit vector û toward the opponent:

cos(θ) = ĥ · û
opponent visible  ⇔  distance ≤ sensor_range  AND  θ ≤ FOV / 2

Motion is simple differential-drive kinematics integrated every frame with a clamped step Δt:

x  += v·cos(ψ)·Δt
z  += v·sin(ψ)·Δt
ψ  += ω·Δt

On contact the overlap between the two circular hulls is resolved by pushing both bots apart along the line joining their centers, weighted by relative closing speed — the live push force readout is that closing-speed impulse. A round ends the instant a bot's center crosses the ring boundary (distance from center ≥ ring radius) — the boundary is exactly what an edge/line sensor detects on a real sumo bot's underside.

FOV — a narrow cone (real IR rangefinders) makes Blue miss opponents to its side; a wide one (real ultrasonic array) spots them earlier.
Sensor range — how far the proximity sensor reaches before an opponent registers as "seen".
Charge speed — top speed once locked onto a target; faster hits harder but overshoots the edge more easily.
Circle & flank — instead of driving straight in, Blue aims roughly 40° off the opponent's heading until close, trying to hit its side rather than its front, then straightens out to push.

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