9.1 Maneuvering

Task 1

In the first part of the task, the vessel will be provided with two GPS points marking the start and end coordinates. Additionally, the vessel will receive multiple intermediate GPS points to navigate through. To control that the vessel passes all GPs points, the GUI must plot the position on the ASV in relation to the given GPS points.

The task evaluates the vessel's ability to navigate the course and follow the GNSS courses. The task demonstrates the vessels' ability to maneuver within any given pathway. Contact with the buoys should be avoided, and the vessel should stay within the pathway throughout the entire course.

Task 1

OBJECTIVE

The ASV will line up at GPS point 1. The ASV needs to follow the GPS waypoints, and halfway through the course follow the waypoints to the first gate. The ASV must navigate efficiently to GPS point 2, keeping a safe distance from the buoys. The ASV has to demonstrate the ability to stay on the course given by the GNSS points, as well as the ability to spot buoys in a distance. The route taken by the ASV is to be plotted in the GUI against the ideal GNSS route.

Element	Description	Dimensions
2 GPS-coordinates	GPS-point 1, 2 and 3	N/A
17 GPS-waypoints	point 1.1 - 1.17	N/A
10 Gates	Pair of red and green buoys	5 m between buoys, 5 m between gates
10 Red buoys	Red buoys	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm
10 Green buoys	Green buoys	Height cylinder: 40cm Diameter cylinder: 14cm Height Buoy: 40cm Diameter Buoy: 35cm

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. 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. Your attempt starts when the ASV passes the first waypoint.

Step 4:

Halfway through the course the ASV has to combine camera vision and GNSS navigation to complete the whole task.

Step 5:

Once you pass the final gate of task 1 (GPS point 2), your attempt finishes. When the Chief Marshall gives the go-ahead, you may steer the ASV safely back to the dock in Remote Control.