The paper presents our work to validate the architecture (software and hardware, including sensors) of ArcTurius Rover. ArcTurius is an autonomous system dedicated to the precise location of survivors after a disaster. To be sure that ArcTurius is adapted to a specific mission, we rely on a set of 3D simulations. In this paper, we focus on finding the best parametrization for a LiDAR sensor. We target to find the best trade-off between the quality of the acquired data and energy consumption.