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simulate-navigation-algorithms-of-an-autonomous-surface-vessel-asv-'s Introduction

Simulate Navigation Algorithms of An Autonomous Surface Vessel (ASV)

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We demonstrate how to simulate the navigation algorithms for an Autonomous Surface Vessel(ASV) with complete system models and diverse scenarios. The task of the ASV is to navigate through a busy canal where other moving ships are present.

Setup

To Run:

  1. download the whole zip
  2. unzip it
  3. open "StartASVDemo.mlx"
  4. Follow the script to run the code step by step

Additional information about set up

MathWorks&reg Products (http://www.mathworks.com)

Requires MATLAB release R2022a or newer. Before proceeding, ensure that the below products are installed:

License

The license is available in the License file within this repository

Include any other License information here, including third-party content using separate license agreements

Community Support

MATLAB Central

Copyright 2022 The MathWorks, Inc.

simulate-navigation-algorithms-of-an-autonomous-surface-vessel-asv-'s People

Contributors

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Stargazers

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simulate-navigation-algorithms-of-an-autonomous-surface-vessel-asv-'s Issues

Simscape model of ASV

Dear Martin Luo,

I'm looking for a simulator where I can validate the math models of my custom ASV which has a manipulator attached underneath it, without the need to calculate hydrodynamics myself.

I found your presentation 'Design and Simulation of Autonomous Surface Vessels | MATLAB Day for Marine Robotics & Autonomous Systems, Part 4' where you introduced Simscape for modelling a USV.

Would you be happy to share the Simscape model you showed in the presentation with me, please? The model I'm referring to is in the picture below.

image

I'm specifically interested in the water environment which the ASV interacts with. I'm wondering how you applied the hydrodynamics and most importantly if it is possible to apply the hydrodynamics applied in your example to any custom vehicle as well.

Thank you very much.

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