Rally Obedience is a dog sport based on obedience. The dog and handler team navigate a course with numbered signs indicating specific exercises to perform. I think it's much more fun than competition obedience for the ring since you are allowed (and even encouraged) to talk to your dog throughout the course; and in APDT Rally at the Novice Level, you can use food rewards in the ring. In this video I'm using one of Jester's favorite balls to help with training. For him, this is more motivating than even a hot dog.
There are several different venues of Rally organizations you can compete in - AKC, World Cynosport, C-Wags, UKC, etc.