# Build your physical track for AWS DeepRacer Build your physical track This section describes how you can build a physical track for a AWS DeepRacer model. To drive your AWS DeepRacer autonomously and to test your reinforcement learning model in a physical environment, you need a physical track. Your track resembles the simulated track used in training and replicates the environment used to train the deployed AWS DeepRacer model. For the best experience, we recommend using pre-printed tracks and track barriers. Using pre-printed tracks and barriers facilitates the smooth set up and installation of the AWS DeepRacer track environment. Instead of building a track from scratch, you assemble pre-printed sections of track and track barriers. When your event is over, you can disassemble and store and reuse the pre-printed tracks and barriers for future events. Pre-printed tracks and barriers as well as details for estimating space and other requirements for events are available at [AWS DeepRacer Storefront.](https://www.amazon.com/b/?node=32957528011&ref_=aws_dr_sf_doc_dg_bw) **Topics** + [ # Track materials and build tools ](deepracer-build-your-track-materials-and-tools.md) + [ # Lay your track for AWS DeepRacer ](deepracer-build-your-track-construction.md) + [ # AWS DeepRacer track design templates ](deepracer-track-examples.md) # Track materials and build tools Materials and tools Before you start to construct you track, get the following materials and tools ready. **Topics** + [ ## Materials you may need ](#deepracer-build-your-track-materials) + [ ## Tools you may need ](#deepracer-build-your-track-tools) ## Materials you may need To build a track, you need the following materials: + For track borders: You can create a track with tape that is about 2-inches wide and white or off-white color against the dark-colored track surface. For a dark surface, use a white or off-white tape. For example, [1.88 inch width, pearl white duct tape](https://www.amazon.com/Scotch-Pearl-White-1-88-Inch-20-Yard/dp/B003YHBU1O) or [1.88 inch (less sticky) masking tape](https://www.amazon.com/Industrial-Masking-Multi-Use-1-88In-60Yard/dp/B07G9VFC4D). + For track surface: You can create a track on a dark-colored hard floor such as hardwood, carpet, concrete, or [asphalt felt](https://www.amazon.com/30-ASTM-D-226-DADE-CNTY/dp/B000FCIONS/ref=sr_1_12?ie=UTF8&qid=1549398905&sr=8-12&keywords=roofing+paper). The latter mimics the real-world road surface with minimal reflection. [Interlocked foam or rubber pads](https://www.amazon.com/dp/B013A4ATCQ?ref_=ams_ad_dp_ttl&th=1) are also good options. ## Tools you may need The following tools are either required or helpful to design and build your track: + Tape measure and scissors A good tape measure and a pair of scissors are essential for building your track. If you don't already have one, you can order [a tape measure here](https://www.amazon.com/Stanley-33-425-Powerlock-25-Foot-Measuring/dp/B00002X2GQ) or [scissors here](https://www.amazon.com/Fiskars-01-004761J-Softgrip-Scissors-Stainless/dp/B002YIP97K/). + Optional design tools To design your own track, you might need a [protractor,](https://www.amazon.com/Sparco-Plastic-Protractor-6-Inch-SPR01490/dp/B009Z0QIRA/ref=sr_1_4?s=office-products&ie=UTF8&qid=1549393959&sr=1-4&keywords=protractor) a [ruler](https://www.amazon.com/Mr-Pen-Architectural-Triangular-Architecture/dp/B07DNHCMS7/ref=sr_1_9?s=office-products&ie=UTF8&qid=1549394062&sr=1-9&keywords=ruler), a [pencil](https://www.amazon.com/AmazonBasics-Wood-cased-Pencils-Box-144/dp/B0188A3QRM/ref=sr_1_4_acs_sk_pb_1_sl_4?s=office-products&ie=UTF8&qid=1549394147&sr=1-4-acs&keywords=pencil), a [knife](https://www.amazon.com/X-Acto-XZ3601-X-ACTO-Knife-Safety/dp/B005KRSWM6/ref=sr_1_8?s=office-products&ie=UTF8&qid=1549394213&sr=1-8&keywords=knife) and a [compass](https://www.amazon.com/Professional-JARLINK-Geometry-Precision-Measuring/dp/B07F6QJLGB/ref=sr_1_22?s=office-products&ie=UTF8&qid=1549394281&sr=1-22&keywords=compass). # Lay your track for AWS DeepRacer Lay your track When you build your track, it's a good practice to start with a simple design, such as a straight or single-turn track. Next you can move on to looped tracks. Here, we use a single-turn track as an example to walk you through the steps to construct your own track. First let's review dimensional requirements of a track. **Topics** + [ ## Dimensional Requirements ](#deepracer-build-your-track-construction-dimensions) + [ ## Considerations for model performance ](#deepracer-build-your-track-performance-considerations) + [ ## Steps to build the track ](#deepracer-build-your-track-construction-steps) ## Dimensional Requirements You can build a track of any shape as long as it meets the following requirements: + **Minimum turning radius**: On a curved track, the turning radius (`r`) measures from the circle center to the outside border, as illustrated below. ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-turning-radius.png) The minimum turning radius (`rmin`) depends on the track turning angle (α) at a corner and should comply to the following limits: + If the track's turning angle is `α ≤ 90 degrees`, `rmin ≥ 25 inches` We recommend 30 inches. + If the track's turning angle is `α > 90 degrees`, α `rmin ≥ 30 inches`. We recommend 35 inches. + **Track width**, The track width (`wtrack`) should comply to the following limit: `wtrack ≥ 24 ± 3 inches`. + **Track surface**: The track surface should be smooth and of a uniform dark color. The minimum enclosing area should be `30 inches x 60 inches` in size. Carpeted and wood floors work well. [Interlocked foam or rubber pads](https://www.amazon.com/AmazonBasics-Exercise-Foam-Interlocking-Tiles/dp/B0719B8HQZ/ref=sr_1_4_acs_sk_pb_2_sl?s=exercise-and-fitness&ie=UTF8&qid=1549400888&sr=1-4-acs&keywords=rubber+tiles) match the simulated environment better than wood, but this is not required. Concrete floors can be problematic due to light reflection on the surface. + **Track barrier** Though not required, we recommended that you encircle the track with uniform-colored barriers that are at least 2.5 feet tall and 2 feet away from the track at all points. ## Considerations for model performance Model performance considerations How you build a track can affect the reliability and performance of a trained model. The following are factors you should consider when building your own tracks. 1. Do not place any white objects on or near your track. If necessary, remove any white object from the track or its vicinity. This is because training in the simulated environment assumes that only the track borders are white. 1. Use clean and continuous tape to mark the track borders. Broken or creased track borders can affect the trained model performance. 1. Avoid using a reflective surface as the track floor. Reduce glare from bright lights. The glare from straight edges can be misinterpreted as objects or borders. 1. Do not use a track floor with line markings other than the track lines. The model might interpret the non-track lines as part of the track. 1. Place barriers around the track to help reduce distractions from background objects. ## Steps to build the track As an illustration, we use the most basic single-turn track. You can modify the instructions to create a more complex track such as an S-curve, a loop, or the AWS re:invent 2018 track. **To build an AWS DeepRacer single-turn track** 1. To construct the straight portion of the track, follow the steps below and refer to the diagram. 1. Put a 60-inch long piece of tape on the floor to lay down the first border in a straight line (`1`). 1. Use a tape measure to locate the second border's two end points, (`2`) and (`3`). Put them 24 inches apart from the first border's two ends. 1. Put another 60-inch long piece of tape on the floor to lay down the second boarder to connect the two endpoints (`2`) and (`3`). ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-straight-60inches.png) We assume the straight track segment is 60-inches long and 24-inches wide. You can adjust the length and width to fit to your space, provided that the dimensional requirements are met. 1. To make the track to turn at a 60-degree angle, do the following and refer to the diagram: 1. Use the tape measure to locate the center (`4`) of the turning radius (`4-3` or `4-6`). Mark the center with a piece of tape. 1. Draw an equilateral triangle. The three sides are (`3-4`), (`4-6`), and (`6-3`). ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-triangle-60degrees.png) To make a 60-degree turn along the track, use the equilateral triangle (`3-4-6`) to determine the locations of the two final end points (`5`) and (`6`) for the curved track segment. For turns at a different angle, you can use a protractor (or a protractor app) to locate the two final ends (`5`) and (`6`) of the curved track segment. Turning radius variations are acceptable as long as the minimum turning radius requirement in Step 2 is met. 1. Put small tape segments, e.g. 4-inches each, on the floor to lay the curved border segments (`7`) and (`8`) and connect them with the straight-line borders. The two curved borders don't need to be parallel. ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-curved-60degrees.png) 1. To extend the track with the next straight segment of 30 inches long and 24 inches wide, do the following: 1. Put a 30-inch long piece of tape on the floor to lay down the first border (4-8) perpendicular to the edge (3-5). ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-straight-border-after-curve.png) 1. Use the tape measure to locate the ending point of the second border (9). You can customize the length of the straight lines to fit to the space you have. 1. Put another 30-inch long piece of tape on the floor to lay down the second border (5-9) perpendicular to the edge (3-5). ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-straight-segment-after-curve.png) We assume the second straight track segment is 30 inches long and 24 inches wide. You can adjust the length and width to fit to your space, provided that the dimensional requirements are met and the dimensions are consistent with other track segments. 1. Optionally, cut tape segments of 4 inches long and then place the tape segments 2 inches apart along the track center to lay the dashed center line. You've now finished building the single-turn track. To help your vehicle to better distinguish the drivable surfaces from non-drivable surfaces, you should paint the off-track surface a color of sufficient contrast with respect to the on-track surface color. To ensure safety, you could encircle the track with uniform-colored barriers that are at least 2.5 feet tall and 2 feet away from the track at all points. You can apply the instructions to extend the track to [more complex shapes](deepracer-track-examples.md). # AWS DeepRacer track design templates Track design templates The following track design templates show AWS DeepRacer tracks that you can build by following the [instructions](deepracer-build-your-track-construction.md) presented in this section. **Note** Templates for tracks that are available pre-printed are also presented in this section. The assembly of pre-printed tracks requires less time and is a simpler process than constructing tracks with your own materials. We recommend using pre-printed tracks and barriers. To purchase pre-printed tracks, see [AWS DeepRacer storefront.](https://www.amazon.com/b/?node=32957528011&ref_=aws_dr_sf_doc_dg_bw) For all tracks, to reproduce the same color production, use the following specifications: + Green: PMS 3395C + Orange: PMS 137C + Black: PMS 432C + White: CMYK 0-0-2-9 These tracks were tested with the following materials for their surfaces: + Vinyl The tracks were printed on 13-ounce scrim vinyl with a matte finish to reduce glare. Vinyl is typically cheaper than carpet and provides good performance. Vinyl is not as durable as carpet. + Carpet The tracks were printed on 8-ounce, dye-sublimated, polyester-faced carpet with latex rubberized backing. Carpet is durable and provides great performance, but is expensive. Due to their large size, the tracks cannot be easily printed on a single piece of material. Align track lines well when connecting pieces together. **Topics** + [ ## AWS DeepRacer A to Z Speedway (Basic) track template ](#deepracer-track-example-A-Z-speedway-basic) + [ ## AWS DeepRacer Smile Speedway (Intermediate) track template ](#deepracer-track-example-smile-speedway-intermediate) + [ ## AWS DeepRacer RL Speedway (Advanced) track template ](#deepracer-track-example-RL-speedway-advanced) + [ ## AWS DeepRacer Single-turn track template ](#deepracer-track-example-single-turn) + [ ## AWS DeepRacer S-curve track template ](#deepracer-track-example-s-curve) + [ ## AWS DeepRacer Loop track template ](#deepracer-track-example-loop) ## AWS DeepRacer A to Z Speedway (Basic) track template A to Z Speedway (Basic) track template The AWS DeepRacer A to Z Speedway (Basic) track is the most popular physical competition track in AWS DeepRacer history. It was originally released at AWS re:invent 2018 and has the smallest footprint of all the AWS DeepRacer physical competition tracks. It's available pre-printed for purchase at [AWS DeepRacer Storefront.](https://www.amazon.com/gp/browse.html?node=32957528011) ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-A-to-Z-speedway-basic.png) We recommend this track for beginner events and first-time racers. With a variety of runs and straightaways, it offers a compelling challenge for both first-time and experienced racers. The AWS DeepRacer A to Z Speedway (Basic) track is a 1:1 physical reproduction of the virtual track available in the console. It provides racers the opportunity to train a model in a virtual environment and then deploy the model to a physical AWS DeepRacer device for autonomous racing on a physical track. To print or create your own A to Z Speedway (Basic) track, download this [AWS DeepRacer A to Z Speedway (Basic) file](samples/deepracer-A-to-Z-speedway-basic.ai.zip). ## AWS DeepRacer Smile Speedway (Intermediate) track template AWS DeepRacer Smile Speedway (Intermediate) track template The AWS DeepRacer Smile Speedway track was originally released as the AWS DeepRacer Championship 2019 track. It's available pre-printed for purchase at [AWS DeepRacer Storefront.](https://www.amazon.com/gp/browse.html?node=32957528011) ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-championship-cup-intermediate.png) We recommend this intermediate track for events with experienced racers and larger physical spaces. It's a 1:1 physical reproduction of the virtual track available in the console. It provides racers the opportunity to train a model in a virtual environment and then deploy the model to a physical AWS DeepRacer device for autonomous racing on a physical track. To print or create your own AWS DeepRacer Smile Speedway (Intermediate) track, download this [AWS DeepRacer Smile Speedway (Intermediate) track file](samples/deepracer-championship-cup-intermediate.ai.zip). ## AWS DeepRacer RL Speedway (Advanced) track template RL Speedway (Advanced) track template The AWS DeepRacer RL Speedway (Advanced) track (aka AWS DeepRacer Summit Speedway) was originally released for AWS DeepRacer summits in 2022 and is the longest physical track in AWS DeepRacer history. It's available pre-printed for purchase at [AWS DeepRacer Storefront.](https://www.amazon.com/gp/browse.html?node=32957528011) ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-summit-speedway-advanced.png) We recommend the AWS DeepRacer RL Speedway (Advanced) track for events with experienced racers. It offers a compelling challenge for racers who enjoy going fast on straightaways. The AWS DeepRacer RL Speedway (Advanced) track is a 1:1 physical reproduction of the virtual track available in the console. It provides the opportunity for racers to train a model in a virtual environment and then deploy the model to a physical AWS DeepRacer device for autonomous racing on a physcial track. To print or create your own AWS RL Speedway (Advanced) track, download this [AWS DeepRacer RL Speedway (Advanced) track file](samples/deepracer-summit-speedway-advanced.ai.zip). ## AWS DeepRacer Single-turn track template Single-turn track template This basic track template consists of two straight track segments connected by a curved track segment. Models trained with this track should make your AWS DeepRacer vehicle drive in straight line or make turns in one direction. ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-single-turn.png) ## AWS DeepRacer S-curve track template S-curve track template The track is more complex than the single-turn track because the model needs to learn to make turns in two directions. You can easily extend the single-turn track construction instructions to this track by turning it in the opposite direction after the first turn. ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-s-curve.png) ## AWS DeepRacer Loop track template Loop track template This regular loop track is a repeating, 90-degree, single-turn track. It requires a larger enclosing area for laying the entire track. ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-track-example-loop.png) ![\[\]](http://docs.aws.amazon.com/deepracer/latest/developerguide/images/deepracer-oval-track.png)