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Digital Competition 2022
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Introduction
1 Summary
2 Njord - Digital Challenge 2023
2.1 Why do we want to have a digital competition?
2.2 The Digital Challenge
2.3 The Physical Challenge
3 Technical Specifications
3.1 Disclaimer
3.2 General Requirements
4 Platform Interface
4.1 Platform Interface
4.2 Sensor Input
4.3 Lidar
4.4 Position and Velocity data
4.5 Control Output
4.6 MATLAB and Simulink Templates
5 Elements In The Challenge
General
5.1 Other Vessels
5.2 Nautical Charts
5.3 Sea markers
6 Time Schedule
6.1 Important deadlines
6.2 Check-ins
6.3 Webinar
6.4 Competition
6.5 Final hand-in of the guidance system
7 The Competition
General
7.1 Maneuvering
7.2 Collision Avoidance
7.3 Docking
7.4 Situational awareness
7.5 Technical Report
7.6 Weighting
8 Registration of teams
8.1 How to register
8.2 Deposit
Installation guide
Virtual Machine
ROS
Gemini Unity
Troubleshooting & Known issues
Running on 2 computers
Updating from release 1
Usage
Launching the platform
Running Scenarios
Example Scenario
.csv Control
Joystick package
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Example Scenario
To prepare for the format that the official Challenge scenarios will be in, an example scenario has been created. The Unity package can be downloaded here. After importing the package into Unity, the scenario can be run by opening the 'Njord Example Scenario.unity' file inside the ...Gemini Unity/Assets/Models folder.
The scenario includes a number of other vessels traveling in the vicinity, where the end goal is to safely dock in 'Nyhamna'. The ros_scenarios.yaml config file should contain the following to properly run the scenario, where the Unity coordinates point at the specified dock:
scenario_type: 1
unity_x_coordinate: 1231.17
unity_z_coordinate: 740.97
​
local_origin_latitude: 63.4351667
local_origin_longitude: 10.3929167
​
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.csv Control
Last modified 6mo ago
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