9.3 Docking

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 fourth category is docking. The vessel must start off by safely docking in a berth with minimal impact, both by normal docking and parallel docking. AR-tags will be available to identify which berths the ASV has been assigned. A boat will be placed in the dock that is not assigned, therefore indicating the docking assigned when AR-tags are not used.

Task rules

• Each team has 2 attempts for parallel parking.

• If the team decides to move on to the next part of docking, any remaining tries for that subsection are gone.

• Timer stops when ASV arrives at GPS-point 9.

Task 3.1

OBJECTIVE

The ASV will start at GPS point 7, approximately 10m from the dock. The ASV shall then move towards GPS point 8. When at GPS point 8 it shall dock in the dock which is not occupied, which will be assigned by AR-tags. It shall dock with minimal impact. Once stationary inside the berth, wait for 10 sec before the ASV shall then reverse out of the berth and move towards GPS-point 9.

ELEMENTS

Element	Description	Dimensions
Berth	Grey	2m x 2m (L x W)
AR-tags	3 AR-tags
3 GPS-coordinates	GPS-point 7, 8 and 10 Provided before start	N/A

TASK GUIDELINE

Step 1:

You are at the dock and it is your turn.

Step 2:

You are given the clear signal from the Chief Marshall to steer your vessel to GPS-point 7 of Task 3.1. This shall be done through Remote Control.

Step 3:

Once given the go-ahead from the Chief Marhsall, you must switch to Autonomous Mode, and your ASV may start its attempt at Task 3.1. Your turn starts when given the go-ahead.

Step 4:

Once the ASV has parked inside the avaliable berth, your ASV shall stay stationary for 10 seconds, before it reverses out of the berth. Once a safe distance away from dock, the ASV shall move to GPS-point 9.

Step 5:

Once reached GPS-point 9, your attempt finishes. Then the ASV shall stay stationary there, waiting for the go-ahead to proceed. You may switch to Remote Control if needed.