9.1 Maneuvering and path finding
The number of Bouys and Gates (and other elements) may vary from whats described, and the illustrations given are only provided to help you visualise how the tasks may look.
Task 1
In the first part of the task, the vessel will be provided with two GPS points marking the start and end coordinates. Additionally, the vessel will receive multiple intermediate GPS points to navigate through. To control that the vessel passes all GPS points, the GUI must plot the position on the ASV in relation to the given GPS points.
In the second part of the task, the vessel needs to detect the cardinal markers which provide information on what side to pass the buoy to avoid danger, while moving towards the end at GPS point 4. The ASV has to be able to follow the right path, given the markers purpose. There will not be any gates consisting of a pair of red and green buoys. The ASV must stay on the course given by the GNSS points, the route taken by the ASV is to be plotted in the GUI against the ideal GNSS route.
The task evaluates the vessel's ability to navigate the course and follow the GNSS courses. The task demonstrates the vessels' ability to maneuver within any given pathway. Contact with the buoys should be avoided, and the vessel should stay within the pathway throughout the entire course.
OBJECTIVE
The ASV will line up at GPS point 1. The ASV needs to follow the GPS waypoints. The ASV has to demonstrate the ability to stay on the course given by the GNSS points, and have the ability to detect and use the cardinal markers to avoid danger, as well as the ability to spot buoys from a distance. The ASV must navigate efficiently to all the GPS-points. The vessel shall navigate to GPS-point 4, while keeping a safe distance from the buoys. The route taken by the ASV is to be plotted in the GUI against the ideal GNSS route.
Task elements
4 GPS-coordinates
GPS-point 1, 2, 3 and 4
N/A
8-15 GPS-waypoints
point 1.1 - 1.10 and 3.1 - 3.3
N/A
Red buoys
Red buoys
Height cylinder: 40cm
Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
Green buoy
Green buoys
Height cylinder: 40cm
Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
Cardinal marker
East marker
Height cylinder: 40cmDiameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
Cardinal marker
West marker
Height cylinder: 40cmDiameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
TASK GUIDELINE
Step 1:
You are at the dock and it is your turn.
Step 2:
You are given a clear signal from the chief marshall to steer your vessel to GPS point 1 of Task 1. This shall be done through Remote Control.
Step 3:
Once given the go-ahead from the chief marshall, you must switch to Autonomous Mode, and your ASV may start its attempt at Task 1. Your attempt starts when the ASV passes the first waypoint.
Step 4:
If a team is unable to complete the first part of the task, they are permitted to begin the second part from GPS coordinate 3.
Step 5:
Halfway through the course the ASV has to combine camera vision and GNSS navigation to complete the whole task.
Step 6:
Once you pass the final cardinal mark your attempt finishes. Then your ASV shall stop at GPS-point 4 and stay stationary there. You may switch to Remote Control.
Step 7:
When the Chief Marshall gives the go-ahead, you may steer the ASV safely back to the dock in Remote Control.
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