· web viewthe distance between these three balls is 50m. the final arrangement of the red float...

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Introduction of Events

1. Mission Started

（1） Scene

When USVs execute patrol missions, it needs to be as close as to the island for regular scouting. There are many reefs around the island. Due to the limited sufficient distance of the optoelectronic equipment on the USV, USVs need to cross between reefs to the island to get useful data.

Target recognition and obstacle avoidance are the necessary abilities of USV to perform autonomous navigation and missions. This event applies the essential capabilities required for the USV to usual application scenarios to examine the comprehensive capabilities of the USV.

（2） Venue description

Figure 1.1 Site layout of The Mission StartedAs shown in Figure 1.1, two green floats are arranged on the start line and the

end line, and the distance between the green buoys is 10 meters; A red float, a black float and a blue float are arranged on the line connecting the midpoint of the starting line and the midpoint of the ending line. The distance between these three balls is 50m. The final arrangement of the red float ball, the black float ball, and the blue

float ball may be adjusted up to the venue.There is one known point A and B near the start line and the end line,

respectively, and the longitudinal and latitudinal coordinates of the known point A & B will be announced before the competition.

（3） Description of the event process

The USV starts from point A autonomously to point B. Through the starting line, they arrive at each floating ball in turn, identifying their meanings and perform corresponding actions, and pass through the ending line to complete the task.

The meaning of the float and the corresponding requirements are defined as follows:

Red buoy: Pass on the left side, and must not collide with the float during the process.

Blue float: Pass on the right side, and must not collide with the float during the process.

Black float: Clockwise winded, and must not collide with the float during the process.

（4） Ranking Rules

A. The competition adopts the point system, and if the points are the same, the

one spends shorter time wins; B. The event must be completed within 10 minutes, otherwise will have no score

in this event;C. Starts counting when USV’s stern passes the starting line, stops when USV’s

stern passes the ending string; D. Correctly pass the starting line scores 20 points, successfully pass the end line

scores 20 points, successfully pass the red float ball scores 15 points,

successfully pass the blue float ball scores 15 points, complete the clockwise

winded of the black float ball scores 30 points;E. If the USV collide with the float, the current action scores 0;F. Each team has two chances to win the best result.

200m

200

米

200

m

A

2. Emergency Rescue

（1） Scene

On the sea, a speedboat with dozens of people was overturned. Fortunately, everyone was wearing an orange life jacket and floated on the water, waiting for rescue. At this time, under the command of the Maritime Rescue Center, a search and rescue USV was ordered to launch a quick set out and rescue people in distress.

This event mainly examines the ability of the competitor's algorithm to fuse multi-environment sensing sensor data and to plan, make decisions, and control the motion of USV.

（1） Competition venue description

Figure 2.1 Site layout of The Emergency RescueAs shown in Figure 2.1, the venue is roughly a square area of the 200mx200m, in

which several orange floats (simulate the drowning people) and several black floats ( simulate obstacles) are randomly scattered between the buoys. The interval is higher than 15 meters.


The USV departs from point A autonomously to strike as many orange floats as possible within the specified time (simulating the rescue process) and to avoid the black float.

The meaning of the float and the corresponding requirements are defined as

follows:

Yellow buoy: Perform a collision action.Black float: Avoid collisions, or deduct points.


A. The competition uses a time-limited point system. If the points are the same,

the winners are determined according to the sequence of the black floats with

the least number of collisions and the shortest time;B. For teams that have not completed the event within 15 minutes, the actual

points in 15 minutes are the final scores;C. Start count from the start point and stop count when the last orange float is

hit;D. Hit an orange float ball scores 10 points, repeatedly hit the orange float ball

will not score or deduct points;E. Collide the black float ball deduct 15 points one time, repeatedly collide the

same ball will deduct points repeatedly;F. Each team has two chances to win the best result.

3. Environmental Awareness

（1） Scene

Unmanned aerial vehicles (UAVs) often replace people to work in dangerous environments. In the face of complex and changeable working environments, whether UAVs can keep the accurate perception of the environmental situation and make appropriate actions to ensure navigation safety while carrying out established tasks is an important indicator to measure the autonomy of UAVs.

This event mainly examines the performance of UAV environmental perception and motion decision-making schemes in complex environments and their ability to avoid dynamic/static risks.

Departure area target Mooring Area

30米

Speed

=1. 5m/ s

40

m

80米

120

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100

米20 m

20米

20 m

20米

Danger-resisting Area

A B

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Figure 3.1 Venue layout of The Environmental AwarenessAs shown in Figure 3.1, the competition venue is a wide rectangular area divided

into a departure preparation area, a danger-resisting area, and a target Mooring area. The specific layout and functions are as follows:

Departure preparation area: A square with a side length of 20 meters and a

green float ball at each of the four vertices.Danger-resisting area: T The area consists of several prop boats (1.6 meters

long) moving clockwise along the circular, rectangular boundary and two rows of

black floating balls arranged in a word. The distance between two adjacent black

balls is 5 meters, and the distance between two rows of black floating balls is 25

meters.Target Mooring area: This is a square with a side length of 20 meters and a

green float on each of the four vertices.Upper and lower boundaries: It consists of two rows of black floats with an

interval of 5 meters between two adjacent black balls.There is a known point A and a known point B near the departure preparation

area and the target Mooring area. The latitude and longitude of the known location will be announced before the competition.


Starting from point A near the departure preparation area, the unmanned ship enters the departure preparation area autonomously. The USV adjusts its position and direction, confirms the right time, enters the dangerous-resisting area, passes through the two rows of black floats, affirm the right time again, sails out of the dangerous area, finally enters the target Mooring area, and completes the competition.

The meaning of the float and the corresponding requirements are defined as follows:

Green buoy: It’s available between the two green buoys.Black float: The distance between the two black float balls is greater than or

equal to 20 meters, and the passage is less than 20 meters.


A. Competition is timed. When the time of competition is added to the total

penalty, those who spend less time win.B. The team that did not complete the competition within 15 minutes, this event

has no results;C. Timing begins when the stern passes through any two floating balls in the

departure preparation area and stops when the stern passes through any two

floating balls in the target mooring area;D. The USV must pass between the two rows of black balls in the danger-resisting

zone. Otherwise, the event will have no results;E. Forty-five seconds deduct for a collision with a prop ship, 15 seconds deduct

for a collision with a black ball, 60 seconds deduct for a violation between two

black balls, and 180 seconds deduct for a total penalty.F. Each team has two chances to win the best result.

20mExit入

口：40

40mEntrance

出口：40米

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m

20m 2

0米

A

4. Return with Honor

（1） Scene

There are various constraints in the process of USV navigation, such as international rules for collision avoidance at sea, navigation channels, shallow water areas, signal lights, and so on. The unmanned ships should also abide by these rules.

The definition of the pass rule is: when the two adjacent floats are all green, or the left float is red, and the right float is green, the connection between the lines is allowed to pass, and the rest is not allowed to pass.

Figure 4.1 Allow between two floatsThis event mainly examines the autonomous path planning and decision-making

ability of the competitors under the constraints of rules.


Figure 4.2 Site layout of The Return with HonorAs shown in Figure 4.2, the venue is a wide rectangular area consisting of red,

green, and black floats arranged at equal intervals of 20 meters. There is an entrance and exit on the left and right, each with a width of 40 meters. The eight floats at the

entry and exit are fixed in color, as shown in Figure 4.2. The remaining red and green balls are randomly distributed, and the black float is the boundary of the competition area.


The USV starts from point A near the entrance and sails from the entrance utilizing autonomous navigation. It crosses the competition venue according to the passing rules, and finally finishes the race after sailing out from the exit.


A. Competition is timed. When the time is used, and the total penalty is added,

those who spend less time win;B. The competition must be completed within 15 minutes. Otherwise, it will have

no results;C. Timing begins when the stern passes through any two floating balls in

entrance and stops when the stern passes through any two floating balls in the

exit;D. Each collision causes a penalty of 10 seconds, and the number of accidents

exceeds six times. There is no result in this competition. E. Every violation of the rules of passage but automatically corrected will penalty

time of 60 seconds, no automatic correction of this project this competition no

results, more than two violations of this project this competition no results;F. Each team has two chances to win the best results.

5. Endlessly Vast（Creative topic）

（1） Scene

With the development of marine equipment technology, intelligent boats play an increasingly important role in the fields of marine transportation, marine resource development, marine survey, marine ecological protection, etc. It can replace manned ships in harsh environments and complete the work that cannot be done by

traditional ships. The automatic processing of its work tasks also dramatically improves the efficiency of the work.

This event requires the participating teams to conceive their tasks and application scenarios (including but not limited to marine environmental monitoring, marine surveys, maritime security guards, underwater detection, marine shipping), and then design smart boat implementation plans and software through tasks and scenarios. Perform simulations. The program is based on the intelligence level of the intelligent boat, and the short-listed plan can arrange the actual ship demonstration.

Application example: A freighter loaded with valuable cargo is transported to a port, and the route to the port needs to pass through a particular area where the pirates frequently appear. In order to ensure the safety of the goods, the owner of the ship sent a USV to escort. In the process of escort, once the USV detects that the cargo ship has a safety threat, it takes measures such as approaching interference, sound and light rejection, and even collision and disengagement.

（2） Competition rules

A. Submit the proposal to the organizer, and the organizing committee will review and determine the

qualifications;

B. Design decision logics and develop control programs to implement a virtual simulation of the

designed solution;

C. Submit the simulation result video, apply for the USV for the competition, the competition

organizing committee will review and approve;

D. The participating teams will perform on-site real-time ship debugging to realize the actual ship

demonstration of the designed plan;

E. The expert team will score the works of each participating team.

（3） Supplementary

A. Each team can apply for up to 4 USVs for real ship demonstrations;

B. The simulation results can also be used as entries. The focus of scoring is not on control of the

ship, but on innovation, rationality, feasibility, and completion of the design.

6. Description of the venue

Considering the difficulty of the layout of the competition venue at sea, the

actual size of the competition venue and the size of the schematic designation will have deviation. The float is made of PVC with a diameter of 1.5 meters and a thickness of 0.25 mm. The float is tied with a rope, the other end of the string is tied heavily, and then the heavy object is sunk to the bottom of the sea. As shown in Figure 6.1, the rope will not be tightened all the time, but a certain length of activity will be reserved to accommodate the rise. The tide is low so that the float may drift at a certain distance from the wave. The participating teams should fully consider the above factors when designing the competition plan.

浮球浮球

Figure 6.1 Floating ball for competition and fixed way

· web viewthe distance between these three balls is 50m. the final arrangement of the red float...

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