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1 | 1 | # Maintaining Heading |
2 | | - 1. Locate Red and Green Buoys |
3 | | - # Here the boat will identify the red buoy and check that it is to the left of the boat |
4 | | - # Here the boat will identify the green buoy and check that it is to the right of the boat |
5 | | - # Here it will update the map and know where the buoys are in space |
6 | | - 2. Align with buoys (square up) |
7 | | - 3. Move Forward |
8 | | - 4. Check yaw (make sure it is unchanged) |
9 | | - # Here the boat will drop a way point in the center of the buoy and travel towards the waypoint |
10 | | - # Here the boat will start the process over by looking for the next set of buoys |
11 | | - 5. Check red and green orientation |
12 | | - 6. Move forward (yaw unchanged) |
| 2 | + 1. Locate Red and Green Buoys |
| 3 | +# Here the boat will identify the red buoy and check that it is to the left of the boat |
| 4 | +# Here the boat will identify the green buoy and check that it is to the right of the boat |
| 5 | +# Here it will update the map and know where the buoys are in space |
| 6 | + 2. Align with buoys (square up) |
| 7 | + 3. Move Forward |
| 8 | + 4. Check yaw (make sure it is unchanged) |
| 9 | +# Here the boat will drop a way point in the center of the buoy and travel towards the waypoint |
| 10 | +# Here the boat will start the process over by looking for the next set of buoys |
| 11 | + 5. Check red and green orientation |
| 12 | + 6. Move forward (yaw unchanged) |
13 | 13 |
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14 | | - |
15 | | - # Circumnavigation |
16 | | - # If travelling in the clockwise direction, it is important that the boat stay oriented to the left of the buoys. |
17 | | - # (and vice versa if traveling counterclockwise). |
18 | | - 1. Locate four buoys |
19 | | - # Here the boat will search the area for at least two of the four buoys. |
20 | | - 2. Position base on left of buoys |
21 | | - # Once at least two are found the boat will orient itself so that the buoys are on its right side. |
22 | | - # Now it will store the starting position of itself |
23 | | - 3. Circle buoy clockwise 90o |
24 | | - # First the boat will drop a way point to the left and a little past the buoy |
25 | | - # Now it will travel to that waypoint and check it has gone past the buoy far enough. |
26 | | - # Now it will spin 90 degrees clockwise |
27 | | - 4. (Repeat 3x) |
28 | | - # Then it will repeat the process until it has gotten to the starting position of the task |
29 | | - 5. Exit |
30 | | - |
31 | | - |
| 14 | +# Circumnavigation |
| 15 | +# If travelling in the clockwise direction, it is important that the boat stay oriented to the left of the buoys. |
| 16 | +# (and vice versa if traveling counterclockwise). |
| 17 | + 1. Locate four buoys |
| 18 | +# Here the boat will scan the area for the four buoys. |
| 19 | +# Here the boat will use object recognition to identify the buoys |
| 20 | +# The boat will update its maps and begin localization. |
| 21 | + 2. Position base on left of buoys |
| 22 | +# Orient itself so that the buoys are on its right side. |
| 23 | +# Now it will store the starting position of itself next to the first buoy |
| 24 | + 3. Circle buoy clockwise 90o |
| 25 | +# First the boat will drop a way point to the left and a little past the next buoy |
| 26 | +# Now it will travel to that waypoint |
| 27 | +# Now it will spin 90 degrees clockwise |
| 28 | + 4. (Repeat 3x) |
| 29 | +# Then it will repeat the process until it has gotten to the starting position of the task |
| 30 | + 5. Exit |
32 | 31 | OR |
33 | 32 | @@ -46,30 +41,87 @@ OR |
34 | 33 |
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35 | 34 |
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36 | | - # Slalom Maneuver |
37 | | - 1. Locate buoys |
38 | | - # Here the boat will scan the area for bouys (probably a line of buoys) |
39 | | - 2. Align buoys so all are in center |
40 | | - 3. Check for red |
41 | | - # Here the boat will look for the first red buoy |
42 | | - # Here the boat will find were it is relative to the red buoy |
43 | | - 4. Start to circle from right |
44 | | - # Here the boat will drop a way point to the right of the red buoy |
45 | | - # Here the boat will travel to the waypoint |
46 | | - # Now the boat will scan for the next green buoy and update its map |
47 | | - 5. Check red and green orientation (red left / green right) |
48 | | - # Here the boat will drop a waypoint between the previous red and current green buoys |
49 | | - 6. Move through and around the left |
50 | | - # Here the boat will add a waypoint to the left of the green buoy |
51 | | - # Now it will travel to the waypoint |
52 | | - 7. Repeat until finding can buoy |
53 | | - # the boat will repeat the scan for the next red buoy and travel around the right |
54 | | - # Once it gets to the last (fourth) buoy, it scans for the circle can buoy |
55 | | - # It identifies the circle can buoy |
56 | | - 8. Circle can buoy |
57 | | - # Set a waypoint on the backside of the circle can |
58 | | - # travel to next waypoint |
59 | | - 9. Check red and green orientation |
60 | | - # if the buoy is green (which it should be at this point) place a waypoint to the left of the buoy |
61 | | - # move to way point |
62 | | - # Scan for red buoy |
63 | | - # Place waypoint to right of buoy |
64 | | - # move to way point |
65 | | - 10. Finish slalom |
66 | | - 11. Exit course |
| 35 | +# Slalom Maneuver |
| 36 | + 1. Locate buoys |
| 37 | +# Here the boat will scan the area for bouys (probably a line of buoys) |
| 38 | +# The boat will scan and build the map for the course |
| 39 | +# The boat will identify all red (2), green (2), and circle can (1) buoys in the course |
| 40 | + 2. Travel to the beginning of the course |
| 41 | +# Set a waypoint at the end of the task course |
| 42 | +# Travel to the waypoint and finish pose facing the first bouy |
| 43 | + 3. Set a path for the course |
| 44 | +# Here the boat will set waypoints for the course |
| 45 | +# Red buoys will receive a waypoint on the right with a orientation of 135 degrees from horizontal X axis |
| 46 | +# Green buoys will receive a waypoint on the left with a orientation of 45 degrees from horizontal X axis |
| 47 | +# An additional waypoint will be dropped at the midpoints of each bouy |
| 48 | +# The boat will travel to each waypoint starting on the right, moving to the midpoint, to the left, and then moving to the midpoint again. |
| 49 | + 7. Repeat until finding can buoy |
| 50 | +# Once it gets to the last (fourth) buoy, it scans for the circle can buoy |
| 51 | +# It identifies the circle can buoy |
| 52 | + 8. Circle can buoy |
| 53 | +# Set a waypoint on the right, backside, and left of the circle can |
| 54 | +# travel to waypoints with last orientation at 270 degrees from the horizontal X axis |
| 55 | + 9. Check red and green orientation |
| 56 | +# Here the boat will set waypoints for the course |
| 57 | +# Red buoys will receive a waypoint on the right with a orientation of 315 degrees from horizontal X axis |
| 58 | +# Green buoys will receive a waypoint on the left with a orientation of 225 degrees from horizontal X axis |
| 59 | +# An additional waypoint will be dropped at the midpoints of each bouy |
| 60 | +# The boat will travel to each waypoint starting on the left, moving to the midpoint, to the right, and then moving to the midpoint again. |
| 61 | + 10. Finish slalom |
| 62 | + 11. Exit course |
67 | 63 |
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68 | 64 |
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69 | | - # Autonomous Navigation |
70 | | - 1. Locate Red and Green Buoys |
71 | | - # Here the boat will identify the red buoy and check that it is to the left of the boat |
72 | | - # Here the boat will identify the green buoy and check that it is to the right of the boat |
73 | | - # Here it will update the map and know where the buoys are in space |
74 | | - 2. Align with buoys (square up) |
75 | | - 3. Move Forward |
76 | | - 4. Check yaw (make sure it is unchanged) |
77 | | - # Here the boat will drop a way point in the center of the buoy and travel towards the waypoint |
78 | | - # Here the boat will start the process over by looking for the next set of buoys |
79 | | - 5. Check red and green orientation |
80 | | - 6. Move forward (yaw unchanged) |
81 | | - |
| 65 | +# Autonomous Navigation |
| 66 | + 1. Locate Red and Green Buoys |
| 67 | +# Here the boat will scan and look for the 4 gate buoys |
| 68 | +# Once located and identified, update map and localize base in space |
| 69 | +# Here it will know where the buoys are in space |
| 70 | + 2. Set waypoints |
| 71 | +# The boat will set a waypoint at the midpoints of the two sets of buoys |
| 72 | +# Set a waypoint every ten feet towards the second set of buoys |
| 73 | + 3. Move Forward |
| 74 | +# Here the boat travels toward the waypoints |
| 75 | +# Once it is past the second set it will wait for the Gps coordinates of the first challenge |
| 76 | + |
82 | 77 |
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83 | | - # Find the Path |
84 | | - 1. Circle environment and map out the buoys |
85 | | - # Here the boat will locate the central can buoy using the lidar and camera |
86 | | - # Once the can buoy is located and identified the boat will scan the perimeter of the challenge and save a map of the course |
87 | | - 2. Find a good path toward the center of the environment |
88 | | - # When the perimeter scan is finished, the boat will drop a waypoint in the center of the mess of buoys |
89 | | - 3. get to the center without touching any other buoys |
90 | | - # The boat travels to the waypoint in the mess of buoys while avoiding obstacles |
91 | | - 4. Once in the center find the central can buoy |
92 | | - # Locate can buoy using laser and camera |
93 | | - # Update map with central can location |
94 | | - 5. Locate and circle around the can buoy |
95 | | - 6. Exit out of the environment |
96 | | - # Follow entrance path to exit the mess of buoys |
97 | | - 7. Exit course |
| 78 | +# Find the Path |
| 79 | + 1. Circle environment and map out the buoys |
| 80 | +# Here the boat will locate the central can buoy using the lidar and camera |
| 81 | +# Once the can buoy is located and identified the boat will scan the perimeter of the challenge and save a map of the course |
| 82 | + 2. Find a good path toward the center of the environment |
| 83 | +# When the perimeter scan is finished, the boat will drop a waypoint in the center of the mess of buoys |
| 84 | + 3. get to the center without touching any other buoys |
| 85 | +# The boat travels to the waypoint in the mess of buoys while avoiding obstacles |
| 86 | + 4. Once in the center find the central can buoy |
| 87 | +# Locate can buoy using laser and camera |
| 88 | +# Update map with central can location |
| 89 | + 5. Locate and circle around the can buoy |
| 90 | + 6. Exit out of the environment |
| 91 | +# Follow entrance path to exit the mess of buoys |
| 92 | + 7. Exit course |
98 | 93 |
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99 | 94 |
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100 | | - # Docking |
101 | | - 1. Enter gate buoys |
102 | | - # Here the boat will go to the designated GPS coordinate for the docking challenge. |
103 | | - 2. Locate dock |
104 | | - # Here the boat will scan for the dock and recognize it as such |
105 | | - 3. Move X distance from dock |
106 | | - # Here the boat will follow the line perpendicular to the midpoint of the dock |
107 | | - 4. Orent perpendicular to dock |
108 | | - # Here the boat will orient |
109 | | - 5. Find edge of dock |
110 | | - 6. Travel parallel to edge of dock plus X distance further |
111 | | - 7. Turn around (yaw) |
112 | | - 8. Deploy hydrophones (if not already done) |
113 | | - 9. Full speed forward for X seconds |
114 | | - 10. Kill thrusters |
115 | | - 11. Active hydrophones |
116 | | - 12. Listen and map out strongest signal distance |
117 | | - 13. Raise hydrophones |
118 | | - 14. Orient perpendicular to dock |
119 | | - 15. Move to calculated docking (sway) |
120 | | - 16. Locate Symbol |
121 | | - 17. Align Straight with symbol |
122 | | - 18. Pause for X seconds |
123 | | - 19. Reverse out of dock |
124 | | - 20. Exit course |
| 95 | +# Docking |
| 96 | + 1. Enter gate buoys |
| 97 | +# Here the boat will go to the designated GPS coordinate for the docking challenge. |
| 98 | + 2. Locate dock |
| 99 | +# Here the boat will scan for the dock and recognize it as such |
| 100 | + 3. Move X distance from dock |
| 101 | +# Here the boat will follow the line perpendicular to the midpoint of the dock |
| 102 | + 4. Orent perpendicular to dock |
| 103 | +# Here the boat will orient |
| 104 | +5. Find edge of dock |
| 105 | +6. Travel parallel to edge of dock plus X distance further |
| 106 | +7. Turn around (yaw) |
| 107 | +8. Deploy hydrophones (if not already done) |
| 108 | +9. Full speed forward for X seconds |
| 109 | +10. Kill thrusters |
| 110 | +11. Active hydrophones |
| 111 | +12. Listen and map out strongest signal distance |
| 112 | +13. Raise hydrophones |
| 113 | +14. Orient perpendicular to dock |
| 114 | +15. Move to calculated docking (sway) |
| 115 | +16. Locate number |
| 116 | +17. Align Straight with symbol |
| 117 | +18. Pause for X seconds |
| 118 | +19. Reverse out of dock |
| 119 | +20. Exit course |
125 | 120 |
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