The purpose of the Obstacle Field task is to demonstrate complex path planning. The vehicle finds an opening in a field of obstacles to reach the pill buoy located beyond the field. Upon reaching the pill buoy (top half orange, bottom half blue), the vehicle circumnavigates it, and finds an opening (either a different one or the same) to exit the obstacle field. As illustrated, the USV must transit around the pill buoy until it has crossed its approach path, transiting at least 360 degrees, before exiting. The path of circumnavigation must include only the pill buoy (no obstacle buoys may be included in the circle). There is at least one point in the obstacle field where the two closest buoys are four to six feet apart.