> For the complete documentation index, see [llms.txt](https://njord.gitbook.io/team-handbook-njord-2025/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/team-handbook-njord-2025/9-task-descriptions/9.2-path-finding.md).

# 9.2 Path Finding

The second category for the 2025 competition is Path Finding. 

## Task 2

In this task, the vessel will be provided with two GPS points that it must safely navigate between. There will be several GPS waypoints the ASV has to visit during its journey.

In the more complex challenges, the vessel must navigate the waters according to the sea markers. Different types of navigational sea markers will be utilized.

The task demonstrates the vessels' ability to find a path and navigate within that pathway. Contact with the sea markers should be avoided, and the vessel should stay within the pathways throughout the entire course. Note that the vessel must be able to interpret cardinal markers and navigate accordingly. 

<figure><img src="/files/9dULTP2IOiVzzjHBZzBy" alt=""><figcaption><p>Task 2.2</p></figcaption></figure>

**OBJECTIVE**&#x20;

The ASV will line up at GPS point 3 and face all different cardinal marks. The cardinal markers provide information on what side to pass the buoy or avoid danger, while moving towards the end at GPS point 4. The ASV has to be able to follow the right path, given the markers purpose. There will not be any gates consisting of a pair of red and green buoys. The ASV must stay on the course given by the GNSS points, the route taken by the ASV is to be plotted in the GUI against the ideal GNSS route.

&#x20;

**TASK ELEMENTS**

<table><thead><tr><th>Element</th><th width="237.00000000000003">Description</th><th>Dimensions</th></tr></thead><tbody><tr><td>1 Green buoys</td><td>Green</td><td><p>Height cylinder: 40cm </p><p>Diameter cylinder: 14cm<br>Height Buoy: 40cm<br>Diameter Buoy: 35cm</p></td></tr><tr><td>Cardinal marker</td><td>East marker</td><td><p>Height cylinder: 40cm </p><p>Diameter cylinder: 14cm<br>Height Buoy: 40cm<br>Diameter Buoy: 35cm</p></td></tr><tr><td>Cardinal marker</td><td>West marker</td><td><p>Height cylinder: 40cm </p><p>Diameter cylinder: 14cm<br>Height Buoy: 40cm<br>Diameter Buoy: 35cm</p></td></tr><tr><td>2 GPS-coordinates</td><td>GPS-point 3 and 4</td><td>N/A</td></tr><tr><td>3 GPS-waypoints</td><td>GPS-Point 3.1-3.3</td><td>N/A</td></tr></tbody></table>

**TASK GUIDELINE**

Step 1:

Once given the go-ahead from the chief marshall, you must activate Autonomous Mode, and your ASV may start its first attempt at task 2. Your turn starts when the ASV passes the first cardinal mark.&#x20;

Step 2:

Once you pass the final cardinal mark of task 2, your attempt finishes. Then your ASV shall stop at GPS-point 4 and stay stationary there. You may switch to Remote Control

Step 3:

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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