Grid Navigation

Photos from previous competitions: http://www.rssc.org/grid-navigation-june-2003

These are the contest rules for the Grid Navigation Contest to be held at RSSC meetings.

PURPOSE:

Promote the development of robust line following algorithms and user interfaces.

Robot Description:

All contestants shall be Autonomous Mobile Robots.  By autonomous we mean that once started - the robot proceeds without external equipment. External equipment includes humans. External equipment also includes external computers.

 

Class 1 – Small robots: 

  • Size is limited. Dimensions shall not exceed :Length 12 inches max, Width 12 inches max,  Height 12 inches max (this is for compatibility with the firefighting contest)
  • Weight is not limited.
  • Contestants should be able to go up or down 1/8 inch steps on an otherwise flat floor

 

Class 2 – Large robots:

  • Size of largest robot will be used to determine the size of course “squares” using the formula: max robot * 1.3.
  • Weight is not limited.
  • Recommend 30” max – standard doorway width

 

Prohibited Items:

Nothing may be used to remotely guide the “contestant”. This includes any device that transmits, receives, or reflects any energy, such as acoustic/sonar, microwave, radio wave (HF, RF, UHF, etc.), light, laser, or infrared energy.

NOTE: These devices may be used onboard the robot for the purpose following the line, and locating obstacles.

 

Course description – Small robots:

The course shall consist of 12 inch square white floor tiles. The tile thickness is about 1/16 inch. Each tile will have a black track made from ¾ inch wide electrical tape.

The tile patterns shall be as shown below :

 

If necessary, masking tape will be applied only at the tile corners to attach the tiles together. The tiles will be arranged in a 7’ x 7’ pattern as shown below:

 

 

Course description – Large Robots:

The course size will be based on the size of the largest robot entered, with the dimension of each square being (1.3 * largest dimension (length or width)). (This formula is the equivalent of a standard 9” Ebot operating on 12” tiles)

 

Example – if the largest robot entered is 30” (wide or long), the squares would be 39” on each side, with 78” between intersections.

 

Line width/material - TBD

 

Common rules and procedures:

The objective of these contests is to complete the course in the shortest period of time while accurately tracking the course line through 4 waypoints.

Calibration Period: On the day of the contest, some of the “tiles” will be assembled on the floor to provide at least one “standard calibration area” for use by the “contestants” to practice.

30 minutes prior to contest: Practice runs cease. 4 waypoints are announced.

NOTE: Contestants may take any route desired to each waypoint, but must cross each waypoint in the order announced.

 

(The 4 waypoints will be “semi-random”; an effort will be made to ensure each successive waypoint is on a different set of lines. 30 minutes are used to enter the waypoints by user interface, or software revision).

Starting Order: Contestant starting order will be chosen by random drawing.

Event Start: When the event start is announced -

  1. Each contestantwill start at square A1. Orientation is at the discretion of the operator.
  2. Once a contestantstarts the course, it must remain autonomous or be disqualified
  3. A maximum of 6 minutes is allowed to complete the course.  If a contestanthas not completed the course in the time allowed, it will not be disqualified but it will no longer be entitled to acquire points after the time limit has expired.
  4. A contestantthat wanders off the course “platform” will be disqualified
  5. The contestantmust announce its arrival at each waypoint. A single tone/beep/LED flash will be used to indicate the first waypoint, 2 for the second, and so on.
  6. After announcing arrival at the 4th waypoint, the contestant will cease any further motion.

 

Event specific rules and scoring

Event Line1      Line follow, 4 random waypoints

A contestant receives 10 points for each tile successfully negotiated.

Point adjustments are as follows :

Accomplishment

  Pts

1st shortest time to complete course

15

2nd shortest time to complete course

10

3rd shortest time to complete course

05

Reached Waypoint A

10

Reached Waypoint B

10

Reached Waypoint C

10

Reached Waypoint D

10

Completes course without losing line

20

Completes course after regaining lost line

10

Stops at 4th waypoint after completing the Course

05

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Event Line2      Line Follow, 4 random waypoints with obstacles

Same as contest line1, however X (qty) obstacles will be placed immediately prior to contest start (after all waypoints have been entered). Each obstacle will be placed to intentionally block the most obvious paths (See example 2). The obstacles will only be placed on tiles with straight lines. Each obstacle will be a standard sized “Home Depot” red brick, wrapped in white paper. Scoring the same as Line1.

Event Line3      Line Follow, 4 random waypoints with obstacles – fastest repeat

Each contestant will complete the course as described in Line2. Each contestant will be immediately returned to the start square to rerun the course, using the obstacle information collected during the first run. Scoring is the same as line1, + 1 point for each second improvement over the first run, and –10 for re-approaching/touching an obstacle found on the first run.  

The contests shall be judged by whatever honest people happen to be hanging around. Judges have 10 minutes to read and understand the rules before the contest begins. Judges decisions are final.

Each Contestant (Robot), will be eligible for one trophy – logically, this would probably be the highest place, in the highest of the three events.