cybergalactic/PythonVehicleSimulator
The Python Vehicle Simulator is software that supplements the textbook "Handbook of Marine Craft Hydrodynamics and Motion Control," 2nd Edition, by T. I. Fossen, published in 2021 by John Wiley & Sons Ltd.
What it solves
This project provides a simulation environment for marine vehicles, supplementing the MATLAB MSS (Marine Systems Simulator) Toolbox. It allows users to test guidance, navigation, and control (GNC) systems for various types of watercraft.
How it works
The simulator models marine vehicles as Python objects. Each vehicle class contains specific methods for guidance, navigation, and control. The system is organized into a library of GNC functions and a main simulation loop that executes real-time simulations of these vehicles.
Who it’s for
Researchers and engineers working on autonomous underwater vehicles (AUVs), unmanned surface vehicles (USVs), and ships, focusing on the mathematical modeling and motion control of marine craft.
Highlights
- Support for a wide variety of vehicle types, including AUVs, USVs, torpedoes, and large ships (e.g., tankers and frigates).
- Integrated feedback control systems and generic GNC functions.
- Includes 3D animation capabilities and time-series plotting for simulation results.
- Based on the mathematical models from the MSS vessel catalog.
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