[bnr1179]

How does this sound:

The field dimensions would be similar to this year's. There is are two bars running the entire width of the field that are 20" off the ground. These bars are located on opposite sides of the field 6 feet from the centerline of the field.
At the field centerline is a single bar raised 8' off the ground, similar to this past years, but not on a platform.
You get points for hanging from the 8' high bar, but to get there, your robot would have to be able to fit under or go over the 20" bar. Quite a challenge. Maybe some really smart team can figure out a way to hang from the other side of the 20" bar, who knows?

Perhaps the scoring objects are larger than 20", so you have to do something funny to get them to the other side of the field.

A simple robot that is less than 20" tall can get to the opponets side of the field and play some defense, or can stay on their own side and score some points.

One more idea:
If you want to use scoring balls, put four scoring towers similar to the stationary goals this year. The towers are only wide enough so that balls stack in them - 30" wide goal for a 24" diameter ball. Your team only gets points if your's is the ball on top. A stack of 5 red balls each worth 5 points gets capped by a blue ball - all those balls in that goal become blue property - 30 points. Last second, red throws one in - changes back - 35 points red