The AUG simulator allows us to simulate the behavior of autonomous underwater gliders so as to analyse their performance and motions, both in a two dimensional as well as three dimensional setting. A PID controller is also implemented for pitch and rudder control.
# clone the project
git clone https://github.com/Bhaswanth-A/AUG-Simulator.git
# install dependencies
pip install -r requirements.txt
# run simulator
python3 main.pyusage: main.py [-h] [-i] [-m MODE] [-c CYCLE] [-g GLIDER] [-a ANGLE]
[-s SPEED] [-pid PID] [-r RUDDER] [-sr SETRUDDER]
[-p [PLOT ...]]
An Autonomous Underwater Glider Simulator.
options:
-h, --help show this help message and exit
-i, --info give full information in each cycle
-m MODE, --mode MODE set mode as 2D, 3D, or waypoint
-c CYCLE, --cycle CYCLE
number of desired cycles in sawtooth trajectory
-g GLIDER, --glider GLIDER
desired glider model ['slocum']
-a ANGLE, --angle ANGLE
desired glider angle
-s SPEED, --speed SPEED
desired glider speed
-pid PID, --pid PID enable or disable PID pitch control
-r RUDDER, --rudder RUDDER
enable or disable rudder
-sr SETRUDDER, --setrudder SETRUDDER
desired rudder angle. Defaults to 10 degrees
-p [PLOT ...], --plot [PLOT ...]
variables to be plotted [3D, all, x, y, z, omega1,
omega2, omega3, vel, v1, v2, v3, rp1, rp2, rp3, mb,
phi, theta, psi]
- Vertical plane simulations
- 3D simulations
- Params in YAML/py file
- Rudder implementation
- PID pitch control
- PID heading control
- Waypoint following