9.2 Collision Avoidance
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.
The third category is collision avoidance. The vessel must reach a destination without colliding with realistic obstacles. It should navigate the waters according to the COLREG. The moving obstacles will approach the ASV from angles between -100° and 100°, meaning they can come from the side or directly ahead, or any angle in between, and may either head toward it or cross its path. The ASV should pass the moving obstacle on the correct side. The moving obstacle will head towards the ASV from two different angles in the two scenarios.
Task Rules
2 attempts per collision situation.
Set speed for task: 2 knots.
At the start of an attempt, ASV must immediately accelerate to set speed for task.
Task 2.1 and 2.2
OBJECTIVE:
The ASV will go from GPS-point 5 to GPS-point 6, and face the marker vessel on its path. The ASV shall detect the marker vessel and pass it safely, according to the COLREG.
ELEMENTS:
Marker vessel The Otter of Njord
Speed: 2.5 knots Angle: -100, 100 degrees
2 m x 1.08 m x 1 m (LxWxH)
2 gates
Pair of red and green buoys
5m between buoys, 20-80 meters between gates
Red buoys
Red buoys
Height cylinder: 40cm
Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
Green buoys
Green
Height cylinder: 40cm
Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
2 GPS-coordinates
GPS-point 5 and 6 Provided before start
N/A
TASK GUIDELINES:
Step 1:
You are given the clear signal from the Chief Marshall to steer your vessel to GPS-point 5 of Task 2.1 or 2.2. This shall be done through Remote Control.
Step 2:
Once given the go-ahead from the Chief Marhsall, you must switch to Autonomous Mode, and your ASV may start its attempt at Task 2.1 or 2.2. Your turn starts when the ASV crosses the first gate.
Step 3:
Once observing the Otter vessel, your ASV shall signal the detection, and safely maneuver around the marker vessel.
Step 4:
Once you pass the final gate of the Task 2.1 or 2.2, your attempt finishes. Then your ASV shall go to GPS-point 6 and stay stationary there, waiting for go-ahead to proceed. You may switch to Remote Control if needed at the GPS-point.
Step 5:
Once given the go-ahead, the ASV must be steered, in Remote Control, back to GPS-point 5, without crossing the course.
Step 6:
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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