Originally created by Craig Maynard for the Western Canadian Robot Games
PDF version of the Ruleset for the Line Follower Event
Please note: 2004 adjustments to rules are in blue text
Concept:
The line follow is a classic introductory robot design and requires a minimal amount of resources. (Go to your favorite search engine and enter "line following robot"). These robots can use microprocessor control or simple digital or analog control systems and are highly visual and entertaining to watch! A great event for re-programmed Mini-Sumos!
Description:
This event is intended to showcase basic sensor design and robot control systems in the form of a small autonomous robot which must follow a black line over a white surface. Points are awarded based upon the distance covered and the speed of the overall robot.
Robot Specifications:
The robots have no restrictions on size or power sources, but must be able to operate without cues or input from owner/operator. We recommend keeping your robot under 12" square, to fit past some of the obstacles with room to spare - aim for 9" or smaller. Penalties may be awarded to robots which are fundamentally unmodified retail kits: Kudo's to those whose robots are scratch-built and totally custom. Robots build from robot construction kits, like Lego Mindstorms or Meccano, are NOT penalized.
The Competition Platform:
The arena of operation consists of a white painted surface with a black line made from standard electrical tape. Lighting levels are unpredictable and the robot must be able to operate over a wide range of lighting conditions.
There will be several stages, each of increasing complexity. Completion of each stage adds to that competitors points score.
Special Notice: Dave Hylands was kind enough to do a very complete web document on the track used at the 2002 WCRG event. Check it out!
The Rules:
Follow the line as far and as fast as you can. The robot will be placed at a pre-assigned starting point and may be started by hand as directed by the judge. Once started your robot must navigate along a black line as quickly as possible.
As the course progresses the complexity of the line becomes more difficult and may include (but is not restricted to) the following distractions.
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Gentle rounded corners
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Sharp rounded corners
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Sharp obtuse angles (greater than 90 degrees)
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Sharp acute angles (less than 90 degrees)
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Dark tunnels (make sure your robot can see in the dark and fit through the tunnel)
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Gaps in the tape (robot might leave line and have to find it again )
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Hills (both up and down)
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Bumps (small cracks may exist on surface)
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Distractions
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Variations in line thickness
Robot operators are allowed to replace an errant robot on track but will suffer a penalty for each replacement.
A robot must have a positive score on the first (qualifying) stage before progressing to subsequent stages. (adjusted rule 2004)
The course layout will not be made available until the day of the event.
Scoring:
Each stage consists of approximately 3 m length of black tape.
| Points Awarded / Penalized | Description | Example |
| 100 points x (Robot-distance/Total-Stage-distance) | A Percentage of 100 points is awarded depending on amount of each stage covered (to nearest 10 cm). | Robot transits 30% of stage 1 : 30 points |
| 100 points | Bonus awarded for successful un-interrupted completion of entire stage. | Robot navigates one stage to completion without handling... bonus 100 points |
| 3000 points / (time to complete stage in seconds ) | Points awarded to reward quicker robots. Timer runs even when robot leaves line and is replaced. | Robot completes stage after 25 seconds: awarded 120 points. |
| 75 point per stage attempted | Robot is scratch built (See WCRS definition) | Bonus points are awarded for the extra design effort. |
| -50 points per violation | Picking up robot and replacing on line (at point where robot left line) | Operator decides robot, which has left line, is unable to re-acquire. He/she moves robot back to line : 50 points per violation |
Potential line following stages...
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