6.3 Maneuvering and Navigation

The first category for the 2023 competition is Maneuvering and Navigation. The vessel will receive four GPS points which the vessel must safely navigate to. In the more complex challenges, the vessel must navigate the waters according to the sea markers. Different types of navigational sea markers will be utilized.

The task demonstrates the vessels' ability to manoeuvre and navigate within any given pathway. Contact with the sea markers should be avoided, and the vessel should stay within the pathway throughout the entire course. There will be three different tasks as shown below. Note that the vessel must be able to interpret cardinal markers and navigate accordingly.

Category overwiev

Task 1.1

OBJECTIVE:

Section 1: Starting from GPS point 1, the ASV must navigate efficiently between gates 1 and 2, keeping a safe distance from the buoys. Demonstrates the ability to stay at the course as well as the ability to spot buoys in a distance.

Section 2: Gates are now spaced closer, and simple turns are introduced. Demonstrates the ability to chart an optimal route along a non-linear path.

TASK ELEMENTS

Element	Description	Dimensions
2 gates	Pair of red and green buoys	5m between buoys, 20 meters between gates
11 Gates	Pair of red and green buoys	5m between buoys, 5meters between gates
13 Red buoys	Red buoys	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
13 Green buoys	Green	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
2 GPS-coordinates	GPS-point 1 and 2 Provided before start	N/A

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 1.1. 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 1.1. Your turn starts when the ASV crosses the first gate.

If the ASV goes out of bounds during the track, it can again be switched into Remote Control mode and steered back on track to the point where it went out of bounds. This applies to all subtasks.

Step 4:

Once you pass the final gate of task 1.1, your attempt finishes. Then your ASV shall go to the next GPS point 2 and stay stationary there, waiting for the go-ahead to proceed. You may switch to Remote Control if needed.

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Task 1.2

OBJECTIVE

After passing GPS point 2, the ASV shall perform a 360-degree turn, while proceeding towards GPS point 3. This task can be solved in many ways.

TASK ELEMENTS

Element	Description	Dimensions
2 GPS-coordinates	GPS-point 2 and 3 Provided before start	N/A

TASK GUIDELINE

Step 1:

Once given the go-ahead, you must again activate Autonomous Mode, and your ASV may start its attempt at Task 1.2. Your attempt starts once given the go-ahead.

Step 2:

Your attempt finishes once reaching GPS point 3. Then your ASV shall stay stationary at the GPS-point 3, waiting for the go-ahead to proceed. You may switch to Remote Control if needed.

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Task 1.3

OBJECTIVE

The ASV will face a total of two cardinal markers inside a straight channel of red and green gates. The cardinal markers provide information on what side to pass the buoy and avoid danger. This will result in a S-line path, towards the end at GPS point 4.

TASK ELEMENTS

Element	Description	Dimensions
4 Gates	Pair of red and green buoys	5m between buoys, 5m between gates
1 Gate	Pair of red and green buoys	5m between buoys, 12m between gates
5 Red buoys	Red buoys	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
5 Green buoys	Green	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
Cardinal marker	East marker	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
Cardinal marker	West marker	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
2 GPS-coordinates	GPS-point 3 and 4 Provided before start	N/A

TASK GUIDELINE

Step 1:

Once given the go-ahead from the chief marshall, you must again activate Autonomous Mode, and your ASV may start its attempt at Task 1.3. Your turn starts when the ASV crosses the first gate.

Step 2:

Once you pass the final gate of task 1.3, your attempt finishes. Then your ASV shall stop at GPS-point 4 and stay stationary there. You may switch to Remote Control

Step 3:

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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