9.4 Docking
The forth category is docking. The vessel must start off by safely docking in a berth with minimal impact, both by normal docking and parallel docking. AR-tags will be available to identify which berths the ASV has been assigned
Task rules
Each team has 2 attempts for normal berth and parallel parking.
If the team decides to move on to the next part of docking, any remaining tries for that subsection are gone.
Timer stops when ASV arrives at GPS-point 4.
Task 4.1
OBJECTIVE
The ASV will start at GPS point 8, approx 10m from the dock. The ASV shall then move towards the dock. Once stationary inside the berth, wait for 5 sec before the ASV shall then reverse out of the berth and move towards GPS-point 9.
ELEMENTS
| Element | Description | Dimensions |
|---|---|---|
Berth | Grey | 2m x 2m (L x W) |
AR-tags | 3 AR-tags | |
2 GPS-coordinates | GPS-point 9 and 10 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 3 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 the ASV has parked inside the avaliable berth, your ASV shall stay stationary for 5 seconds, before it reverses out of the berth. Once a safe distance away from dock, return towards GPS-point 10 driving forwards.
Step 5:
Once reached GPS-point 4, 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 4.2
OBJECTIVE:
The ASV will start at GPS point 11, approx 10m from the barge. The ASV shall then move towards the dock and parallell dock. Once stationary inside the berth, wait for 5 sec before the ASV shall then reverse out of the berth and move towards GPS-point 12.
ELEMENTS:
| Element | Description | Dimensions |
|---|---|---|
Berth | Grey | 2m x 4m (L x W) |
AR-tags | 3 AR-tags | |
2 GPS-coordinates | GPS-point 11 and 12 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 the ASV has reached the inside of the berth, your ASV shall stay stationary parallel to the dock for 5 seconds, and return towards GPS-point 12 driving forwards.
Step 3:
Once reached GPS-point 12, 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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