日本語

Published August 31, 2020

*Blue letters are special notes.

*Red letters are changes from previous modification date.

1. Overview

The points obtained by orbiting four pylons (two main pylons and two subpylons).

2. Robot Car Hardware Regulations

≪Power of Robot Car≫

In principle, it will be electric.

≪Robot Car navigation sensor≫

・It must be equipped with a GPS receiver as the main navigation sensor and travel autonomously according to the control program. The GPS receiver and microcomputer to be used are commercially available products but are not particularly limited.

・The only sensors that can be used other than the GPS receiver are gyro and geomagnetic sensors. However, other sensors within the scope of this contest may be permitted; therefore, please contact the competition secretariat.

-Remote control during competition is prohibited, and all autonomous control units (both hardware and software) must be installed in the robot car. However, external communication is allowed when monitoring the state of the robot car (in this case, please explain to the referee that no remote control is performed).

≪Robot car dimensions≫

Satisfy one of the following criteria:

1. The height during competition is 400 mm or less, the width is 500 mm or less, and the depth is 500 mm or less.

2. When disassembling the robot and carrying it in a bag, the total size of the three sides of the bag is within 115 cm and within 55 cm × 40 cm × 25 cm (bags will be prepared by each competitor. It is based on the size allowable into a domestic aircraft (more than 100 seats).)

≪Weight of robot car≫

Must be less than 9 kg in total. This includes the weight of all equipment required for autonomous driving but excludes equipment that are connected only during setup and disconnected during competition (e.g., laptops and battery chargers).

≪Supplement≫

Robot cars that may damage the arena or injure people are not allowed to operate at the discretion of the tournament secretariat.

3. Arena

≪Pylon≫

There are two main pylons and two subpylons. The distance between the main pylons was approximately 20 m. The subpylon was located on a straight line connecting the two main pylons and 1 m inward from the main pylon. Color cones were used as the pylons. The robot car is not disqualified if it collides with a pylon; however, this should be avoided. Even if the pylon is shifted due to a collision with a robot car, it shall operate from its original position.

≪Starting point≫

The middle point of the straight line connects the two main pylons.

≪Center circle≫

A circle with a radius of 2 m centered on the starting point.

4. Competition flow

Upon receiving the preparation instructions from the referee, the competitor places the robot car at the starting point. The orientation of the robot car at the starting point is arbitrary. The competitor informs the referee that he can start when ready.

≪Competition time≫

The competition time will be 3 min. Once the referee has declared to start, the timekeeper will begin measuring the competition time. The number of times that you can participate in the competition is unlimited. However, depending on the number of participants, the competition time may be reduced or multiple attempts may be permitted.

≪Driving rules≫

• The robot car will rotate around the main pylon, like a ∞, by autonomous driving. Regardless of the way traversed around ∞, if you drive around the main pylon half way, you will obtain points for the main pylon.
• If the robot car passes through the center line connecting the main pylons after making a half-turn around the main pylon, the center line passing points will be added. However, if one passes between the main pylon and the set subpylon or touches the subpylon, REIWA points will be added. It is not essential to aim for REIWA points.
• When the robot car gains main pylon orbiting points and then stops and appeals within the center circle (provided that it touches the outer line) during the competition, bonus points will be added (within the competition time). Appeal should be started. However, the competition will end when it is stopped and appealed (the subsequent scores will not be accepted even if the competition time remains). Aiming to earn bonus points is not essential per se (it may be a motion of continuously turning in ∞ during the competition).

main pylon

subpylon

5. Retries and remedies

≪Retries≫

A competitor may declare retries any number of times within the competition time. A retry is applied when the athlete declares to the referee and the referee acknowledges it. If a retry is accepted, all previous scores will be void. The competitors can adjust the robot car again, but the competition time will not be reset by the retry. Once ready, the competitor may declare a restart to the referee and, with the referee's permission, restart the robot car from the starting point.

≪Remedies≫

Remedy measures are measures that allow a competitor to move an obstacle or change the direction of the robot car if the robot car is stuck in the arena without being able to avoid the obstacle. It is applied when the athlete declares to the referee that the relief measure is applicable and the referee acknowledges it. If the remedy is granted, the points up to that point will not be reset. The remedy can be applied up to five times. To change the direction of the robot car, the player can rotate the robot car on the spot to change the movement direction or move an obstacle such as a pylon. When moving a pylon, it returns to its original location immediately after passing the robot car.

≪End of competition≫

The competitor may declare the end of the competition within the competition time. It is applied when the athlete declares to the referee that the competition is completed and the referee acknowledges it. If the end of the competition is recognized, the score obtained up to that point will be applied. It cannot be restarted.

4.6. Addition and subtraction points

In the running competition, the number of correct round trips between the main pylons and the running speed on the course are competing to score the total points at the end of the competition. When a competitor reports a relief measure to the referee and touches a robot car or an obstacle, points are deducted from the total points.

≪Main Pylon-Orbiting Points

Ten points will be added when the main pylon has completed a half-circle. The two main pylons should rotate in opposite directions.

≪Center Line Passing Points

After passing around the main pylon half-circle, when passing through the center line connecting the main pylon, add 10 points.

≪REIWA Points≫

After passing the half-circle around the main pylon, pass between the main pylon and a set of subpylons, or add 30 points when touching the subpylon. When the REIWA point is added, the centerline passing point is not added.

≪Bonus Points≫

After gaining the main pylon orbiting points and then stopping and appealing within the center circle within the competition time, 50 points will be added.

≪Subtraction points≫

If a bailout is applied, five points will be deducted from the total points each time.