RoboCup Final

Keywords: PID, Inner Motor and Outer Motor ratio for obstacle, Comparing colors with raw RGB, Obstacle, Avoidance
 Line Junior
Presented by  Beta Team   from  


Team- Sravan Desu-9th grade, Krish Patel-8th grade
PID stands for Proportional, Integral, Derivative.
We used PID because we do not need to make specific cases like we have to in a regular line tracing. If we get off the line slightly it fixes by itself. PID sets the motor values based on the sensor values.
For PID we need an error value, kp, and a thresold for white and black.
Obstacle Avoidance
To get around the obstacle we decided to create a circle around it.
Formula for obstacle avoidance is the inner motor/outer motor.
To get around the object we need the radius of the object and have a buffer value.
The outer motor has to go faster than the inner motor.
innermotor=(radius of the object)+(the buffer value)
outermotor=(radius of the object)+(the buffer value)+(wheelbase)
Green intersections have green tapes on sides on black lines that tell you where to go.
There could be green on the left or right side or there could be a double green which means you do a u turn.
We had problems with doing the double green because the sensor saw one green before the other since.


Please use English to share your comments with the world.
We recommend you to log in with your social account whenever possible. Otherwise, it will take more than a few hours for the comments to be displayed.

Presentation list

Other Presentations

Check out some of the other great presentations!

Check presentation list

Award list

Outstanding presentations

Check out some of the outstanding presentations!

Award list
About this virtual event

Virtual Presentation Event

RCJ Rescue would like to hold a virtual presentation event to have some conclusion to the 2020 RoboCupJunior year for rescue Line and rescue Maze. The idea of this virtual event is to have a formal opportunity for teams present their excellent work within the RCJ rescue community in a condensed form, and to have some sense of closure to the year.

Participating teams will create a video about their progress and work, which will be made available for other teams to host discussions and gain inspiration for the future.

While awards cannot be issued by the RoboCup Federation, teams participating will be recognised by the RCJ Rescue TC/OC committees and a range of awards will be given for outstanding presentations.

Have Question?

Contact us

If you have any questions, please post them in the Junior Forum.
We'd be happy to answer them!