6.5 Collision Avoidance

The third category is collision avoidance. The vessel must reach a destination without colliding with realistic obstacles. It should navigate the waters according to the COLREGs. The moving obstacles should be expected to either head directly towards the ASV, or simply cross its path. The ASV should pass the moving obstacle on the correct side.

Task 3.1

OBJECTIVE:

The ASV will go from GPS-point 8 to GPS-point 9, and face the marker vessel on its path. In this task the marker vessel will stand still. The ASV shall detect the marker vessel and pass it safely.

ELEMENTS:

TASK GUIDELINES:

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 8 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 the ASV crosses the first gate.

Step 4:

Once observing the Otter vessel, your ASV shall signal the detection, and safely maneuver around the marker vessel.

Step 5:

Once you pass the final gate of the Task 3.1, your attempt finishes. Then your ASV shall go to GPS-point 9 and stay stationary there, waiting for go-ahead to proceed. You may switch to Remote Control if needed.

Step 6:

Once given the go-ahead, the ASV must be steered, in Remote Control, back to GPS-point 8, without crossing the course.

Task 3.2

OBJECTIVE:

The ASV will go from GPS-point 8 to GPS-point 9, and face the marker vessel on its path. In this task the marker vessel enter from starboard side. The ASV shall detect the marker vessel and pass it safely.

ELEMENTS:

TASK GUIDELINES:

Step 1:

You are given the clear signal from the Chief Marshall to steer your vessel to GPS-point 8 of Task 3.1. This shall be done through Remote Control.

Step 2:

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 the ASV crosses the first gate.

Step 3:

Once observing the Otter vessel, your ASV shall signal the detection, and safely maneuver around the marker vessel.

Step 4:

Once you pass the final gate of the Task 3.1, your attempt finishes. Then your ASV shall go to GPS-point 9 and stay stationary there, waiting for go-ahead to proceed. You may switch to Remote Control if needed.

Step 5:

Once given the go-ahead, the ASV must be steered, in Remote Control, back to GPS-point 8, without crossing the course.

Task 3.3

OBJECTIVE:

The ASV will go from GPS-point 8 to GPS-point 9, and face the marker vessel on its path. In this task the marker vessel will stand enter at higher speed from an unknown angle. The ASV shall detect the marker vessel and pass it safely.

ELEMENTS:

TASK GUIDELINES:

Step 1:

You are given the clear signal from the Chief Marshall to steer your vessel to GPS-point 8 of Task 3.1. This shall be done through Remote Control.

Step 2:

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 the ASV crosses the first gate.

Step 3:

Once observing the Otter vessel, your ASV shall signal the detection, and safely maneuver around the marker vessel.

Step 4:

Once you pass the final gate of the Task 3.1, your attempt finishes. Then your ASV shall go to GPS-point 9 and stay stationary there, waiting for go-ahead to proceed. You may switch to Remote Control if needed.

Step 5:

Once given the go-ahead, the ASV must be steered, in Remote Control, back to GPS-point 8, without crossing the course.

Step 6:

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