├── AUVmodelingandsim.prj ├── Files ├── AUV_Model.slx └── setax.m ├── README.md ├── SECURITY.md ├── license.txt └── resources └── project ├── Project.xml ├── ProjectData.type.Info.xml ├── Root.type.Categories ├── FileClassCategory.type.Category.xml └── FileClassCategory.type.Category │ ├── artifact.type.Label.xml │ ├── convenience.type.Label.xml │ ├── derived.type.Label.xml │ ├── design.type.Label.xml │ ├── none.type.Label.xml │ ├── other.type.Label.xml │ └── test.type.Label.xml ├── Root.type.Files ├── Files.type.File.xml ├── Files.type.File │ ├── 1.type.DIR_SIGNIFIER.xml │ ├── AUV_Model.slx.type.File.xml │ └── setax.m.type.File.xml ├── README.md.type.File.xml ├── SECURITY.md.type.File.xml └── license.txt.type.File.xml ├── Root.type.ProjectPath └── b23bf6e2-ff61-4e91-af45-3063945c1347.type.Reference.xml └── uuid-add8d8f5-1f23-42d2-99de-525fb5cb869f.xml /AUVmodelingandsim.prj: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /Files/AUV_Model.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mathworks/AUV-modeling-and-sim/b19656b71c72d9bd59cc6ee04a246d24c9e15183/Files/AUV_Model.slx -------------------------------------------------------------------------------- /Files/setax.m: -------------------------------------------------------------------------------- 1 | function setax(Position, srf_in) 2 | figure(1) 3 | hold off 4 | srf_in = srf_in + repmat([Position(1) Position(2) Position(3)],[16 1]); 5 | h=plot3(srf_in(:,1),srf_in(:,2),srf_in(:,3),'b'); 6 | ax = gca; 7 | ax.XLim = [-15 15]; 8 | ax.YLim = [-15 15]; 9 | ax.ZLim = [-15 15]; 10 | xlabel('X (m)'); 11 | ylabel('Y (m)'); 12 | zlabel('Z (m)'); 13 | 14 | grid on 15 | 16 | end -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Modeling and Simulation of an Autonomous Underwater Vehicle 2 | Copyright 2020-2021, The MathWorks, Inc 3 | 4 | [![View Modeling and Simulation of an Autonomous Underwater Vehicle on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://www.mathworks.com/matlabcentral/fileexchange/74931-modeling-and-simulation-of-an-autonomous-underwater-vehicle) 5 | 6 | 7 | # Description 8 | This submission contains the files used in this video on [Modeling, Simulation and Control of an Autonomous Underwater vehicle](https://www.mathworks.com/videos/modeling-and-simulation-of-an-autonomous-underwater-vehicle-1586937688878.html). This submission models a 6-DoF autonomous underwater vehicle (AUV) and a position and velocity controller for the AUV. You can switch between low and high fidelity sensor and environment models based on your application needs. 9 | 10 | Aerospace Blockset is used to model the dynamics of the vehicle. [Watch this video to learn how to model the thrusters using system identification](https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-from-data-to-model-1518156121608.html) 11 | 12 | # Files: 13 | 1. AUVmodelingandsim.prj - Launches the project and sets up the environment appropriately. 14 | 2. resources - project resources 15 | 3. Files\AUV_Model.slx - Simulink model with the AUV model 16 | 4. Files\setax.m - MATLAB helper function to visualize the AUV 17 | 18 | 19 | # Contact 20 | Please write to roboticsarena@mathworks.com with any questions or suggestions 21 | 22 | 23 | # License 24 | 25 | The license used in this contribution is the XSLA license, which is the most common license for MathWorks staff contributions. Refer license.txt for more information. 26 | -------------------------------------------------------------------------------- /SECURITY.md: -------------------------------------------------------------------------------- 1 | # Reporting Security Vulnerabilities 2 | 3 | If you believe you have discovered a security vulnerability, please report it to 4 | [security@mathworks.com](mailto:security@mathworks.com). Please see 5 | [MathWorks Vulnerability Disclosure Policy for Security Researchers](https://www.mathworks.com/company/aboutus/policies_statements/vulnerability-disclosure-policy.html) 6 | for additional information. -------------------------------------------------------------------------------- /license.txt: -------------------------------------------------------------------------------- 1 | Copyright (c) 2019, The MathWorks, Inc. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 5 | 6 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 7 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 8 | 3. In all cases, the software is, and all modifications and derivatives of the software shall be, licensed to you solely for use in conjunction with MathWorks products and service offerings. 9 | 10 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /resources/project/Project.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/ProjectData.type.Info.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category/artifact.type.Label.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category/convenience.type.Label.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category/derived.type.Label.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category/design.type.Label.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category/none.type.Label.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category/other.type.Label.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Categories/FileClassCategory.type.Category/test.type.Label.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Files/Files.type.File.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Files/Files.type.File/1.type.DIR_SIGNIFIER.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Files/Files.type.File/AUV_Model.slx.type.File.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /resources/project/Root.type.Files/Files.type.File/setax.m.type.File.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /resources/project/Root.type.Files/README.md.type.File.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Files/SECURITY.md.type.File.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.Files/license.txt.type.File.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/Root.type.ProjectPath/b23bf6e2-ff61-4e91-af45-3063945c1347.type.Reference.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /resources/project/uuid-add8d8f5-1f23-42d2-99de-525fb5cb869f.xml: -------------------------------------------------------------------------------- 1 | 2 | --------------------------------------------------------------------------------