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.

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	GPS-point 5 and 6 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 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.

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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	GPS-point 5 and 7 Provided before start	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.

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