Line Follower Enhanced Rules
Short Description:
The objective of this competition is to complete the circuit in the shortest period of time while accurately tracking the circuit line from start to finish.
Anyone can compete at this challenge.
Changelog
01.07.2025
1. General aspects
1.1. Definition
New chapter
2. General Requirements
2.1. General Robot Specifications
Rule C, E, F, G, H, I, J – new rules
2.2. Robot Limitations/Restrictions
New chapter
3. Requirements for the Track
3.1. Game Surface Specifications
New chapter
3.2. Track Specifications
New chapter
3.3. Characteristics of the Line Track
New chapter
4. Time
4.1. Track Time
New chapter
4.2. Time Limit
New chapter
4.3. Timekeeping
New chapter
5. Autonomous Control
New chapter
6. Course of the Competition
6.1. Competition system
New chapter
6.2. Teams and robots
New chapter
6.3. Timed attempt on the track
New chapter
6.4. Losing the Line
New chapter
6.5. Power of Officials
New chapter
6.6. Homologation
Rule B – new rule
6.6.1. At the beginning of the competition
Rule A, F – new rules
6.6.2. Before every timed attempt on the track
Rule A, E – new rules
6.7. Requirements for Line Follower Enhanced
6.7.1.Interruption
New chapter
6.7.2. Obstacle
New chapter
6.7.3. Seesaw
New chapter
7. Violations
7.1. Violations
New chapter
7.2. Participant misbehaviour
New chapter
7.3. Minor Violations
New chapter
8. Penalties
8.1. Penalties
New chapter
18.10.2024
1.6. Aim of the Game
We changed the playing system, we implemented a system with an unlimited number of timed attempts on the track during a given time.
23.03.2024
1.1. Size and Weight Limits
The robot can be equipped with a turbine (EDF). The EDF can be used.
17.07.2017
1.6. Aim of the Game
Important!!! One person can be an operator for a maximum of 2 robots.
If you are called to play and you don't come in 5 minutes the robot is disqualified.
01.05.2016
1.6. Aim of the Game
2. Homologation
Appendix 1 - Team’s folder
22.10.2015
1.3. Time Limit
20.07.2015
First publishing
1. General aspects
1.1. Definition
A. Line Follower Enhanced is a challenge in which the autonomous robot equipped with sensors must navigate along a track marked with a continuous line, but also contain a broken line, an obstacle and a bridge, without the direct intervention of the operator.
B. The goal is for the robot to follow the track in the shortest possible time, respecting the rules of the competition.
2. General Requirements
2.1. General Robot Specifications
A. The maximum size of a robot is 25cm x 25cm (250mm x 250mm)
B. The maximum weight of the robot is 1 kg (1000g).
C. Robots must pass the homologation before the challenge starts.
D. Sticky substances to improve traction are not allowed. Tires and other components of the robot in contact with the game surface, must not be able to pick up and hold a standard A4 paper (80 g/m2) for more than two seconds. The robots will be checked at the homologation phase and they can be rechecked in any moment of the competition.
E. The robot can be equipped with a turbine (EDF). The EDF can be used and it is permitted.
F. The robots must be able to make a distinction between black and white and also to be able to detect it with the help of optical sensors.
G. The robots must be capable of following the track's curves without cutting across or driving over them.
H. It is recommended that the robot use modulated or filtered sensors to prevent interference from sunlight, artificial lighting or camera flashes.
I. The organizers are not to be held responsible for the incorrect functionality of the robots due to the surrounding environment.
J. Each robot must visibly display a number, provided by the organizers, on its casing. This number is used by the referee for identification purposes and can be found in the Team’s Folder (see Appendix 1 for details).
2.2. Robot Limitations/Restrictions
A. Sticky substances to improve traction are not allowed. Tires and other components of the robot in contact with the game surface, must not be able to pick up and hold a standard A4 paper (80 g/m2) for more than two seconds. The robots will be checked at the homologation phase and they can be rechecked in any moment of the competition.
B. External devices attached to the robot to assist with line-following are not permitted.The sensors and the sensor’s mounting system are not considered extensions.
3. Requirements for the Track
3.1. Game Surface Specifications
A. The game surface is defined as a rectangle of 4.14 m by 2.80 m (4140 mm by 2800 mm) and can be varied.
B. The field is made out of white wood and covered with white glued paper on the joints.
C. The circuit is made of 15 mm black line and has curves, sharp, right and wide angles and the start and finish point coincide.
D. At the start/finish point there is an electronic gate system that records the time.
3.2. Track Specifications
A. The line following track shall traverse a white rectangle. The line shall be black and 15 mm wide.
B. An electronic gate to measure time will be installed at the start/finish point.
C. The track can be changed during the competition if the organizers decide it is necessary.
D. The track can be changed between the testing day and the starting of the competition.
3.3. Characteristics of the Line Track
A. There shall be no crossovers (e.g. places where the line crosses itself).
B. Switchbacks and hairpins are allowed, but adjacent sections of the line must be at least 15 cm apart, measured from the center of each line.
C. The closest approach of the line track to the edges of the arena shall be no less than 15 cm (150 mm), measured from the center of the line.
D. The minimal curve radius is 7.5 cm (75 mm).
E. Sharp angles may occur, but will not be smaller than 70°.
4. Time
4.1. Track Time
A. Time is measured from crossing the track start line until the robot crosses the finish line.
B. A robot is deemed to have crossed the line when the forward most part of the robot contacts or crosses over the line.
4.2. Time Limit
A. A maximum of 03:00 minutes is allowed for a robot to complete the track.
B. For the Line Follower challenge there will be a 180 minutes time limit.
C. The time can be extended or reduced depending on the number of participants.
4.3. Timekeeping
A. Time shall be measured by an electronic gate system or by a referee with a stopwatch, based on the availability of equipment. In either case the recorded time shall be final.
B. The final classification will be made using the best time for each robot.
5. Autonomous Control
A. Once a robot has crossed the starting line it must remain fully autonomous or it will be disqualified.
B. It is not allowed to touch the robot, except the case when the robot exits from the competition area and it must be stopped.
C. Robots are not allowed to map the track. If this happens the track will be changed.
D. Robots are not allowed to use extensions outside the main body. The sensors and the sensor’s mounting system are not considered extensions.
6. Course of the Competition
6.1. Competition system
A. The competition will take place in the time limit of 180:00 minutes.
B. This limit can be extended or reduced depending on the number of the robots registered.
C. All participants must complete at least one timed attempt on the track and have it recorded in the scoring system until the time limit.
D. Robots that have not yet completed a run will be given priority over those that already have a recorded time.
E. The robots can make timed attempts on the track in any order.
F. Robots are allowed unlimited timed attempts on the track.
G. The best time for each robot will be taken into consideration at the end of the time limit.
H. The ranking is done according to the best time for each robot.
6.2. Teams and robots
A. No objections shall be declared against the referee's decisions. If there are any objections the team can be disqualified.
B. Until the homologation, all the teams will stay in the room reserved for them (the room will be marked in the area map). The teams can leave the room only when they are called to the competition area. Each team will be called by a competition official/competition volunteer, when they need to go to the waiting area which is near the competition area.
C. The homologation is made every time for the robots which will follow at start. They will remain in the competition area, in the waiting area. The teams will leave this area only if the referee agrees.
D. The teams will leave this area only if the referee agrees and only for repairs and they must return in the time set by the referee.
E. If the team doesn’t return at the first call they will lose the trial.
F. After the timed attempt on the track is over, the teams must return to the room reserved for them.
G. Each team has the responsibility to follow the starting grid (schedule), displayed on the website. PLEASE DON’T BE LATE, WE WILL NOT WAIT!!!
H. One person can be an operator for a maximum of 2 robots.
I. The operator can not be changed during the competition. From the beginning of the competition to the end will be the same person.
6.3. Timed attempt on the track
A. During the whole competition, no breaks are allowed while a robot is making a timed attempt on the track.
B. One timed attempt on the track means one run on the track, and one restart if the robot didn’t complete the track.
C. Between the timed attempts on the track the changes to the robot, repairs and reprogramming are allowed.
D. During a timed attempt on the track, if the robot has lost the line there will be a short break max. 01:00 minute for cleaning the robot and wheels, configuring the robot and the attempt must resume.
E. The robot configuration must be done before placing the robot at the start point.
F. Once placed in the track the robot can't be touched (except
G. The robot can be started from a button or using a remote control.
H. The operator may hold the remote to stop the robot if necessary, but is not allowed to press any buttons unless the robot has either completed the track or lost the line.
6.4. Losing the Line
A. Any robot that loses the line track must restart from the start position.
B. If the robot loses the line for the second time it will receive the time of 03:00 minutes.
C. All timed attempts on the track have the right to one restart if the robot loses the line.
6.5. Power of Officials
A. The decisions of the referees regarding these rules and the conduct of the event shall be final.
6.6. Homologation
A. Each team will have to pass the homologation stage, in order to participate with their robot/s in the competition.
B. The stages of the homologation process are at the beginning of competition and before every timed attempt on the track.
6.6.1. At the beginning of the competition
A. It will be checked if the number exists on the casing of the robot and it must be clearly visible to the referees. The number can be placed anywhere on the robot's casing and must remain attached throughout the entire competition.
B. Checking the robot dimensions by placing a 25 cm x 25 cm (250mm x 250mm) box/frame, bottomless, over the robot.
C. Weighing the robot on a digital scale. The maximum value must be 1kg (1000g).
D. The robot must not be able to pick up and hold a standard A4 paper (80 g/m²) for more than two seconds.
E. After the homologation the first team will remain in the waiting area. The rest of the teams will return to the room reserved for them.
F. A photo will be taken to every robot in which the number will be visible.
A photo will be taken to the robot with the display number visible and also with the badge and operator face.
G. It will be checked there are no external devices attached to the robot to assist with line-following
6.6.2. Before every timed attempt on the track
A. It will be checked if the number exists on the outer casing of the robot and it must be clearly visible to the referees. The number can be placed anywhere on the robot's casing and must remain attached throughout the entire competition.
B. Checking the robot dimensions by placing a 25cm x 25cm (250mm x 250mm) box/frame, bottomless, over the robot.
C. Weighing the robot on a digital scale. The maximum value must be 1kg (1000g).
D. The robot must not be able to pick up and hold a standard A4 paper (80 g/m²) for more than two seconds.
E. It will be checked to confirm that the operator has not been changed.
F. It will be checked there are no external devices attached to the robot to assist with line-following
6.7. Requirements for Line Follower Enhanced
6.7.1.Interruption
A. At one point on the course, the line is interrupted for 10 cm (100 mm). This gap will not be located on a curve, so the course continues in a straight line across the interruption.
6.7.2. Obstacle
A. A brick (approx. L=25 cm x W=12 cm x H=6,5 cm) will be placed on the course. The robot has to drive around this brick to reach the continuation of the line.
B. The robot must go around the obstacle in the shortest path. It is not allowed to exceed 20 cm (200 mm) after the obstacle. A marker will be placed on the track.
6.7.3. Seesaw
A. A seesaw is placed somewhere on the course. The length of the seesaw is at least 50 cm (500 mm). The axis of the seesaw is mounted at most 12 cm (120 mm) above the ground. The black line continues on the seesaw.
7. Violations
7.1. Violations
A. Players performing any of the deeds described in Sections 2.2, 7.2 or 7.3 shall be declared in violation of these rules and it is punishable with a warning.
7.2. Participant misbehaviour
A. A player who utters insulting words to the opponent or to the referees or puts voice devices in a robot to utter insulting words or writes insulting words on the body of a robot or performs any insulting action, is in violation of these rules.
B. Yelling at the referees and the opponents is not allowed.
C. Threatening gestures towards referees and opponents are not tolerated.
D. Repeated aggressiveness in language and in behavior of the participants can lead to the elimination of the team from the competition and result in the call of the security guards.
E. Gestures or offending words written on the outside case of the robot are considered regulations violations.
7.3. Minor Violations
A minor violation is punishable with a warning and is declared when:
A. The competitor enters the track during the timed attempt on the track, unless the robot loses the line and the competitor goes to pick up the robot. To enter into the track means:
a. a part of the player's body is on the white rectangle.
b. a player puts any mechanical kits into the white rectangle to support his/her body.
B. Performs the following deeds:
a. demand to stop the timed attempt on the track without appropriate reasons.
b. take more than 60 seconds before resuming the timed attempt on the track after the robot has lost the line, unless the referee announces a time extension.
c. take action of any kind which is contrary to the spirit of fair-play of the game.
d. the operator will leave the waiting area without announcing the official of the competition or the referee regarding the reason for leaving.
C. If a team has 2 warnings, the team can lose the trial or the team can be disqualified depending on the gravity of the action that they did.
8. Penalties
8.1. Penalties
A. Players who violate these rules by performing the deeds described in Sections 7.1, 7.2 and 7.3 shall lose the attempt and no time will be recorded. The referee shall order the violator to clear out. The violator is not honored with any rights.
B. Each occasion of the violations described in Sections 7.3 shall be accumulated. Two of these violations shall lose the attempt and no time will be recorded.
9. Declaring Objections
A. No objections shall be declared against the referee's decisions.
B. The lead person of a team or the robot operator can present objections to the referee, before the match is over, if there are any doubts in the exercising of these rules.
C. Any regulations matter will be discussed with the Robochallenge organizers team or with the referee’s.
D. If there are any complaints or there is serious misconduct they will be discussed with the Robochallenge organizers team or with the referee’s.
10. Flexibility of Rules
A. As long as the concept and fundamentals of the rules are observed, these rules shall be flexible enough to encompass the changes in the number of players and of the contents of matches.
B. Modifications or abolition of the rules can be made by the local event organizers as long as they are published prior to the event, and are consistently maintained throughout the event.
11. Liability
A. Participating teams are always responsible for the safety of their robots and are liable for any accidents caused by their team members or their robots.
B. The RoboChallenge organization and the organizing team members will never be held responsible nor liable for any incidents and / or accidents caused by participating teams or their equipment.
APPENDIX 1
Team’s folder will have the following items:
