├── ASV.x3d ├── AuvMathModel.m ├── InitParam.m ├── LICENSE ├── OrientationDegSat.m ├── OrientationErrorDegSat.m ├── PathFollowing.slx ├── README.md ├── SetWaypoints.m ├── plotTrack.m └── water.jpg /ASV.x3d: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | -------------------------------------------------------------------------------- /AuvMathModel.m: -------------------------------------------------------------------------------- 1 | function Out = AuvMathModel(In) 2 | % In = [u;v;r(rad/s);Xprop(N);NDisturb;Deltar(rad)] 3 | % Out = [dotu;dotw;dotr(rad/s/s)] 4 | 5 | % The used model is described in the following paper 6 | % Verification of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle 7 | 8 | u = In(1); 9 | v = In(2); 10 | r = In(3); 11 | Xprop = In(4); 12 | NDisturb = In(5); 13 | Deltar = In(6); 14 | 15 | global auv; 16 | 17 | Xsum = auv.Xuu*u*abs(u)+(auv.Xvr+auv.m)*v*r+(auv.Xrr+auv.m*auv.xg)*r*r+Xprop; 18 | Ysum = auv.Yvv*v*abs(v)+auv.Yrr*r*abs(r)+(auv.Yur-auv.m)*u*r+auv.Yuv*u*v+auv.Yuudelta*u*u*Deltar; 19 | Nsum = NDisturb+auv.Nvv*v*abs(v)+auv.Nrr*r*abs(r)+(auv.Nur-auv.m*auv.xg)*u*r+auv.Nuv*u*v+auv.Nuudelta*u*u*Deltar; 20 | 21 | Out = auv.M\[Xsum;Ysum;Nsum]; 22 | 23 | end -------------------------------------------------------------------------------- /InitParam.m: -------------------------------------------------------------------------------- 1 | global auv; 2 | 3 | % The used model is described in the following paper 4 | % Verification of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle 5 | 6 | auv.m = 30.51; %kg 7 | auv.Izz = 3.45; 8 | 9 | auv.xg = 0; %m 10 | auv.zg = 0.0196; 11 | 12 | auv.Xdotu = -0.93; 13 | auv.Xuu = -1.62; %kg/m 14 | auv.Xvr = 35.5; 15 | auv.Xrr = -1.93; 16 | 17 | auv.Ydotv = -35.5; 18 | auv.Ydotr = 1.93; 19 | auv.Yvv = -131; 20 | auv.Yrr = 0.632; 21 | auv.Yur = 5.22; 22 | auv.Yuv = -28.6; 23 | auv.Yuudelta = -9.64; 24 | 25 | auv.Ndotv = 1.93; 26 | auv.Ndotr = -4.88; 27 | auv.Nvv = -3.18; 28 | auv.Nrr = -9.4; 29 | auv.Nur = -2; 30 | auv.Nuv = -2.4; 31 | auv.Nuudelta = 6.15; 32 | 33 | auv.M = [auv.m-auv.Xdotu,0,0;0,auv.m-auv.Ydotv,auv.m*auv.xg-auv.Ydotr;0,auv.m*auv.xg-auv.Ndotv,auv.Izz-auv.Ndotr]; -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. Definitions. 8 | 9 | "License" shall mean the terms and conditions for use, reproduction, 10 | and distribution as defined by Sections 1 through 9 of this document. 11 | 12 | "Licensor" shall mean the copyright owner or entity authorized by 13 | the copyright owner that is granting the License. 14 | 15 | "Legal Entity" shall mean the union of the acting entity and all 16 | other entities that control, are controlled by, or are under common 17 | control with that entity. For the purposes of this definition, 18 | "control" means (i) the power, direct or indirect, to cause the 19 | direction or management of such entity, whether by contract or 20 | otherwise, or (ii) ownership of fifty percent (50%) or more of the 21 | outstanding shares, or (iii) beneficial ownership of such entity. 22 | 23 | "You" (or "Your") shall mean an individual or Legal Entity 24 | exercising permissions granted by this License. 25 | 26 | "Source" form shall mean the preferred form for making modifications, 27 | including but not limited to software source code, documentation 28 | source, and configuration files. 29 | 30 | "Object" form shall mean any form resulting from mechanical 31 | transformation or translation of a Source form, including but 32 | not limited to compiled object code, generated documentation, 33 | and conversions to other media types. 34 | 35 | "Work" shall mean the work of authorship, whether in Source or 36 | Object form, made available under the License, as indicated by a 37 | copyright notice that is included in or attached to the work 38 | (an example is provided in the Appendix below). 39 | 40 | "Derivative Works" shall mean any work, whether in Source or Object 41 | form, that is based on (or derived from) the Work and for which the 42 | editorial revisions, annotations, elaborations, or other modifications 43 | represent, as a whole, an original work of authorship. For the purposes 44 | of this License, Derivative Works shall not include works that remain 45 | separable from, or merely link (or bind by name) to the interfaces of, 46 | the Work and Derivative Works thereof. 47 | 48 | "Contribution" shall mean any work of authorship, including 49 | the original version of the Work and any modifications or additions 50 | to that Work or Derivative Works thereof, that is intentionally 51 | submitted to Licensor for inclusion in the Work by the copyright owner 52 | or by an individual or Legal Entity authorized to submit on behalf of 53 | the copyright owner. For the purposes of this definition, "submitted" 54 | means any form of electronic, verbal, or written communication sent 55 | to the Licensor or its representatives, including but not limited to 56 | communication on electronic mailing lists, source code control systems, 57 | and issue tracking systems that are managed by, or on behalf of, the 58 | Licensor for the purpose of discussing and improving the Work, but 59 | excluding communication that is conspicuously marked or otherwise 60 | designated in writing by the copyright owner as "Not a Contribution." 61 | 62 | "Contributor" shall mean Licensor and any individual or Legal Entity 63 | on behalf of whom a Contribution has been received by Licensor and 64 | subsequently incorporated within the Work. 65 | 66 | 2. Grant of Copyright License. Subject to the terms and conditions of 67 | this License, each Contributor hereby grants to You a perpetual, 68 | worldwide, non-exclusive, no-charge, royalty-free, irrevocable 69 | copyright license to reproduce, prepare Derivative Works of, 70 | publicly display, publicly perform, sublicense, and distribute the 71 | Work and such Derivative Works in Source or Object form. 72 | 73 | 3. Grant of Patent License. Subject to the terms and conditions of 74 | this License, each Contributor hereby grants to You a perpetual, 75 | worldwide, non-exclusive, no-charge, royalty-free, irrevocable 76 | (except as stated in this section) patent license to make, have made, 77 | use, offer to sell, sell, import, and otherwise transfer the Work, 78 | where such license applies only to those patent claims licensable 79 | by such Contributor that are necessarily infringed by their 80 | Contribution(s) alone or by combination of their Contribution(s) 81 | with the Work to which such Contribution(s) was submitted. If You 82 | institute patent litigation against any entity (including a 83 | cross-claim or counterclaim in a lawsuit) alleging that the Work 84 | or a Contribution incorporated within the Work constitutes direct 85 | or contributory patent infringement, then any patent licenses 86 | granted to You under this License for that Work shall terminate 87 | as of the date such litigation is filed. 88 | 89 | 4. Redistribution. You may reproduce and distribute copies of the 90 | Work or Derivative Works thereof in any medium, with or without 91 | modifications, and in Source or Object form, provided that You 92 | meet the following conditions: 93 | 94 | (a) You must give any other recipients of the Work or 95 | Derivative Works a copy of this License; and 96 | 97 | (b) You must cause any modified files to carry prominent notices 98 | stating that You changed the files; and 99 | 100 | (c) You must retain, in the Source form of any Derivative Works 101 | that You distribute, all copyright, patent, trademark, and 102 | attribution notices from the Source form of the Work, 103 | excluding those notices that do not pertain to any part of 104 | the Derivative Works; and 105 | 106 | (d) If the Work includes a "NOTICE" text file as part of its 107 | distribution, then any Derivative Works that You distribute must 108 | include a readable copy of the attribution notices contained 109 | within such NOTICE file, excluding those notices that do not 110 | pertain to any part of the Derivative Works, in at least one 111 | of the following places: within a NOTICE text file distributed 112 | as part of the Derivative Works; within the Source form or 113 | documentation, if provided along with the Derivative Works; or, 114 | within a display generated by the Derivative Works, if and 115 | wherever such third-party notices normally appear. The contents 116 | of the NOTICE file are for informational purposes only and 117 | do not modify the License. You may add Your own attribution 118 | notices within Derivative Works that You distribute, alongside 119 | or as an addendum to the NOTICE text from the Work, provided 120 | that such additional attribution notices cannot be construed 121 | as modifying the License. 122 | 123 | You may add Your own copyright statement to Your modifications and 124 | may provide additional or different license terms and conditions 125 | for use, reproduction, or distribution of Your modifications, or 126 | for any such Derivative Works as a whole, provided Your use, 127 | reproduction, and distribution of the Work otherwise complies with 128 | the conditions stated in this License. 129 | 130 | 5. Submission of Contributions. Unless You explicitly state otherwise, 131 | any Contribution intentionally submitted for inclusion in the Work 132 | by You to the Licensor shall be under the terms and conditions of 133 | this License, without any additional terms or conditions. 134 | Notwithstanding the above, nothing herein shall supersede or modify 135 | the terms of any separate license agreement you may have executed 136 | with Licensor regarding such Contributions. 137 | 138 | 6. Trademarks. This License does not grant permission to use the trade 139 | names, trademarks, service marks, or product names of the Licensor, 140 | except as required for reasonable and customary use in describing the 141 | origin of the Work and reproducing the content of the NOTICE file. 142 | 143 | 7. Disclaimer of Warranty. Unless required by applicable law or 144 | agreed to in writing, Licensor provides the Work (and each 145 | Contributor provides its Contributions) on an "AS IS" BASIS, 146 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or 147 | implied, including, without limitation, any warranties or conditions 148 | of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A 149 | PARTICULAR PURPOSE. You are solely responsible for determining the 150 | appropriateness of using or redistributing the Work and assume any 151 | risks associated with Your exercise of permissions under this License. 152 | 153 | 8. Limitation of Liability. In no event and under no legal theory, 154 | whether in tort (including negligence), contract, or otherwise, 155 | unless required by applicable law (such as deliberate and grossly 156 | negligent acts) or agreed to in writing, shall any Contributor be 157 | liable to You for damages, including any direct, indirect, special, 158 | incidental, or consequential damages of any character arising as a 159 | result of this License or out of the use or inability to use the 160 | Work (including but not limited to damages for loss of goodwill, 161 | work stoppage, computer failure or malfunction, or any and all 162 | other commercial damages or losses), even if such Contributor 163 | has been advised of the possibility of such damages. 164 | 165 | 9. Accepting Warranty or Additional Liability. While redistributing 166 | the Work or Derivative Works thereof, You may choose to offer, 167 | and charge a fee for, acceptance of support, warranty, indemnity, 168 | or other liability obligations and/or rights consistent with this 169 | License. However, in accepting such obligations, You may act only 170 | on Your own behalf and on Your sole responsibility, not on behalf 171 | of any other Contributor, and only if You agree to indemnify, 172 | defend, and hold each Contributor harmless for any liability 173 | incurred by, or claims asserted against, such Contributor by reason 174 | of your accepting any such warranty or additional liability. 175 | 176 | END OF TERMS AND CONDITIONS 177 | 178 | APPENDIX: How to apply the Apache License to your work. 179 | 180 | To apply the Apache License to your work, attach the following 181 | boilerplate notice, with the fields enclosed by brackets "[]" 182 | replaced with your own identifying information. (Don't include 183 | the brackets!) The text should be enclosed in the appropriate 184 | comment syntax for the file format. We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /OrientationDegSat.m: -------------------------------------------------------------------------------- 1 | function u = OrientationDegSat(in) 2 | if in > 360 3 | u = in - 360; 4 | elseif in<0 5 | u = in+360; 6 | else 7 | u = in; 8 | end -------------------------------------------------------------------------------- /OrientationErrorDegSat.m: -------------------------------------------------------------------------------- 1 | function u = OrientationErrorDegSat(in) 2 | if in > 180 3 | u = in - 360; 4 | elseif in<-180 5 | u = in+360; 6 | else 7 | u = in; 8 | end -------------------------------------------------------------------------------- /PathFollowing.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuanstudyup/ASV-Path-Following-Simulation/c631ada6a33febb8d28e18acb5ca4a702266a4d2/PathFollowing.slx -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # ASV-Path-Following-Simulation 2 | A path following simulation for autonomous surface vehicle on Matlab/Simulink. 3 | 4 | It can run on Matlab 2020b and newer versions. Matlab must be installed Simulink 3D Animation toolbox. 5 | 6 | AUV model using Remus100 in 《Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle》. 7 | 8 | The path following method in the platform is line-of-sight guidance law and PID heading autopilot 《Line-of-Sight Path Following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces》. 9 | 10 | Running video: https://www.bilibili.com/video/BV1Hc411n7LN/ 11 | -------------------------------------------------------------------------------- /SetWaypoints.m: -------------------------------------------------------------------------------- 1 | %% Task Waypoints 2 | Waypoints = [0 30; 30 30; 30 -30; -30 -30; -30 0; -5 0]; 3 | WPNum = size(Waypoints,1); 4 | 5 | %% Inital Pose 6 | P0 = [0,0]; 7 | Yaw0 = 70; %Deg -------------------------------------------------------------------------------- /plotTrack.m: -------------------------------------------------------------------------------- 1 | close all 2 | 3 | X = logsout{1}.Values.Data; 4 | Y = logsout{2}.Values.Data; 5 | 6 | WaypointsPlot = [P0;Waypoints]; 7 | 8 | figure 9 | hold on;grid on;box on; 10 | plot(WaypointsPlot(:,2),WaypointsPlot(:,1),'--r','LineWidth',1.5); 11 | plot(Y,X,'-b','LineWidth',1.5); 12 | scatter(Y(1),X(1),40,'p','filled','MarkerFaceColor','red'); 13 | scatter(Y(end),X(end),40,'h','filled','MarkerFaceColor','black'); 14 | scatter(WaypointsPlot(2:end,2),WaypointsPlot(2:end,1),40,'o','MarkerEdgeColor','red'); 15 | axis equal; 16 | legend({'TaskPath','Track','Start','End','WayPoints'},'Location','best');legend('boxoff'); 17 | xlabel('Y[m]');ylabel('X[m]'); -------------------------------------------------------------------------------- /water.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chuanstudyup/ASV-Path-Following-Simulation/c631ada6a33febb8d28e18acb5ca4a702266a4d2/water.jpg --------------------------------------------------------------------------------