> For the complete documentation index, see [llms.txt](https://njord.gitbook.io/physical-competition-2023/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://njord.gitbook.io/physical-competition-2023/6-task-descriptions/6.4-docking.md).

# 6.4 Docking

The second category is docking. The vessel must start off by safely docking in a berth with minimal impact, both by normal docking and parallel docking. A GPS-point will be given as location of the berth. To clarify, AR-tags are not included in this year's competition.

<figure><img src="/files/bomyqYrP3IL1kGrBNfs6" alt=""><figcaption></figcaption></figure>

### Task 2.1

**OBJECTIVE**

The ASV will start at GPS point 5, approx 5m from the dock. The ASV shall then move towards GPS-point 6, located inside the berth, and dock (stay stationary) for 5 sec.

**ELEMENTS**

| Element           | Description                                       | Dimensions      |
| ----------------- | ------------------------------------------------- | --------------- |
| Berth             | Grey                                              | 2m x 2m (L x W) |
| 2 GPS-coordinates | <p>GPS-point 5 and 6<br>Provided before start</p> | 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 5 of Task 2.1. 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 2.1. Your turn starts when given the go-ahead.

Step 4:

Once reached GPS-point 6 inside the berth, your ASV shall stay stationary for 5 seconds, before it again exits the berth and returns towards GPS-point 5.

Step 6:

Once reached GPS-point 5 again, 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.

***

### Task 2.2

**OBJECTIVE:**

The ASV will start at GPS point 5, approx 5m from the barge. The ASV shall then move towards GPS-point 7, located inside the barge, and parallell dock (stay stationary) for 5 sec.

**ELEMENTS:**

| Element           | Description                                       | Dimensions      |
| ----------------- | ------------------------------------------------- | --------------- |
| Berth             | Grey                                              | 2m x 4m (L x W) |
| 2 GPS-coordinates | <p>GPS-point 5 and 7<br>Provided before start</p> | N/A             |

**TASK GUIDELINE**

Step 1:

Once given the go-ahead from the Chief Marhsall, you must switch to Autonomous Mode, and your ASV may start its attempt at Task 2.2. Your turn starts when given the go-ahead.

Step 2:

Once reached GPS-point 7 inside the berth, your ASV shall stay stationary for 5 seconds, before it again exits the berth and returns towards GPS-point 5.

Step 3:

Once reached GPS-point 5 again, 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.

Step 4:

When the Chief Marshall gives the go-ahead, you may steer the ASV safely back to the dock in Remote Control.

***