International METU Robotics Days  2012

Line Follower Category Rules

1) Purpose

• To complete the path in the shortest time.

2) Path

• The path is a closed track which can be circled.
• There exists one shortcut and one internal path other than the main path.
• On the main path there are 1 spiral, 12 left and 3 right turns. Internal path includes 4 left turns. Main path includes; 8 left (excluding spiral) and 2 right turns if robot follows the long path, 4 left (excluding spiral) and 2 right turns if robot uses the shortcut.
• The main path intersects itself three times. Two of these are crossroads, one is on the ground and one is on the bridge which is 250 mm high. Other intersection is the common part of shortcut and the internal path.
  
• There exists one shortcut on the main path. There is a white line before the shortcut.
• Shortcut and internal path have a common part and this common part which is a straight line ends with a curve having radius of 300 mm.
• There is a bump just before the curve having radius of 1000mm which is just before the gate. This bump has a height of 50 mm, an incline and a decline ramp, having same slope, with length of 570 mm , and a straight part with 500 mm.
• There exists one gate on the main path. This gate opens sliding both sides. The surface of the door is covered by a bright material. Robots are expected to stop when they see the gate. The laser 50 cm to the gate will understand that robot is on the door. The gate will be opened 4 seconds after the first laser saw the robot. The second laser by the door will see that robot passed the door. Robots may decrease their speed and move slowly in the 4 seconds.
• There exists a flash-light section. In this section, flash-light application is made from the bottom of track by LED lights. The LED lights in a single row are on the line on track and otherLED lights are at right and left sides of LED lights in a single row (examine the sample drawing). LED lights in a single row and other groups of LED lights wink sequentially. This system exists on the upper face of bump.

3) Road

• The road surface is black and line is white except the beginning of shortcut. At that part colors swap.
• There exists one line in the middle of the road. The road edges are at a distance of 250±5 mm to the left and right of the line in the middle. The road lines are 19±1 mm wide.
• At the intersection of the roads, the middle lines intersect.
• There exists no barrier anywhere on the road.
• The slope angle on the bridge is 15 degrees.
• On the road, at the area of crossing to the shortcut there exists lines of 19±1 mm wide and perpendicular to the road lines.
• On the bridge, bump and spiral, slope changes may not be smooth.
• Spiral has slope of 10% towards the outside of the road. There exists an extra road in case the robot falls out of the spiral.

4) Competition

• The competition starts behind the open gate. Robots complete the internal path firstly. Then they complete the main path. Finish line defines the end of race and it is after the start line/gate.
• On the first lap, robots must ignore the seperation line of internal and main path and continue to internal path.
• Limit is 20 seconds for the first round.Otherwise, robot is disqualified.
• Only straight line group of LEDs will be on for the internal path.
• The robots will start behind the line which is by the gate. Timing starts at that line.
  
• The race will start and end when sensors that are 20 mm above the road see the robot. There exists sensors for both finish and start line.
• If the robot deviates to the internal path during the main path, it will take off-road penalty. Then it will be put on the line which is after the entrance of internal path.
• If the robot breaks down, the team is given another chance to compete only for once. The referee decides the repair time given to the team based on the type of breakdown.
• If the robot completely leaves the track during the race, the chronometer is stopped by the referee and the race is restarted from the projection of the point to the middle line where the vehicle left the path. This situation results in a 5 second penalty.
• Unless the robot does not completely leave the road, the robot cannot be interfered. The right to interfere with the robot can be given by the referee on other conditions also, and this results in a 5 second penalty.
• If the vehicle cannot climb the bridge, it is put on the specified place at top of the bridge by referee when its velocity decreases to zero on the ramp. This situation results in a 30 second penalty.
• If the vehicle cannot climb the bump , it is put on the specified place at top of the bridge by referee when its velocity decreases to zero on the ramp. This situation results in a 15 second penalty.
• If the vehicle cannot climb the spiral, it is put on below spiral. This is repeated 3 times and this is necessary to apply the following state. If the vehicle fails again,it will be put on the path which is at the 25 mm above the spiral. This situation results in a 10 seconds penalty.
• Every robot races one by one, in a row. This sequence is announced before the races begin.
• If the robot hits the gate, it is put behind the gate and the gate will open. This situation results in 30 seconds penalty.
• If the robot leaves the track on the shortcut, it is put on curve before the short-cut entrance and must follow the main path. That robot cannot try the shortcut again.
  
• The shortcut starts with the track where it is white over black line, and ends with the 300 mm left curve.

• Teams consist of at most 4 people. During the race, only one person deals with the vehicle.

6) Other

• The height limit for robots is 140 mm.
• Permanent trail or signs cannot be left on the path. The road cannot be damaged.
• The vehicles can use any forms of energy that will not harm the track and the viewers.
• If laser is to be used, level 1 laser can be used.
• It is the participant’s responsibility to make the necessary warnings to the referee, for the safety of the viewers.
• The robots must follow the line.
• Robots should be autonomous.
• The vehicles that do not comply with the rules above are disqualified.
• Robot's complete time includes internal path, main path and the small part after the gate to the finish line.
  

• The vehicles are put in order according to the timings of the referees plus the penalties taken.
• The penalties and the timings are announced after the race.
• The top three teams in the ranking will be awarded.
• Furthermore, creative ideas and designs if deemed worthy may be awarded.