The Python Vehicle Simulator supplements the Matlab MSS (Marine Systems Simulator) toolbox. It includes models for autonomous underwater vehicles (AUVs), unmanned surface vehicles (USVs), and ships. The vehicle models are based on the MSS vessel models in /MSS/VESSELS/catalog. Each vehicle is modeled as an object in Python, and the vehicle class has methods for guidance, navigation, and control. The main program main.py defines vehicle objects for real-time simulation.
Root folder:
/src/python_vehicle_simulator/
main.py - MAIN PROGRAM (terminal command >>python3 main.py)
3D_animation.gif - 3D animation file that can be opened in a web browser by right-clicking the file
Library files:
/src/python_vehicle_simulator/lib/
control.py - feedback control systems
gnc.py - generic GNC functions
guidance.py - guidance functions
mainLoop.py - main simulation loop
plotTimeSeries.py - plotting and animation functions
Vehicle classes/methods:
/src/python_vehicle_simulator/vehicles/
DSRV.py - Deep submergence rescue vehicle (DSRV) controlled by a stern plane, L = 5.0 m
frigate.py - Frigate, rudder-controlled ship described by a nonlinear Nomoto model, L = 100.0 m
otter.py - Otter unmanned surface vehicle (USV) controlled by two propellers, L = 2.0 m
ROVzefakkel.py - ROV Zefakkel, rudder-controlled ship described by a nonlinear Nomoto model, L = 54.0 m
semisub.py - Semisubmersible controlled by tunnel thrusters and main propellers, L = 84.5 m
shipClarke83.py - Ship, linear maneuvering model specified by L, B and T using the Clarke (1983) formulas
supply.py - Offshore supply vessel controlled by tunnel thrusters and main propellers, L = 76.2 m
tanker.py - Tanker, rudder-controlled ship model including shallow water effects, L = 304.8 m
remus100.py - Cylinder-shaped AUV controlled by a rudder, stern planes and a propeller, L = 1.6 m
For more information about the mathematical modeling of marine craft and methods for guidance, navigation, and control, please consult:
T. I. Fossen (2021). Handbook of Marine Craft Hydrodynamics and Motion Control. 2nd. Edition, Wiley. https://wiley.fossen.biz
To run the main program main.py the following modules must be installed:
numpy https://numpy.org/install/
matplotlib https://matplotlib.org/stable/users/installing.html
pytest https://docs.pytest.org
The Python packages are automatically installed by using the command
pip install <path>
where <path> is the path of the downloaded PythonVehicleSimulator repository. Example:
- Click on the green code tab on GitHub and choose download
- This gives you the catalog: PythonVehicleSimulator-master (can be renamed)
python3 -m pip install -e /MY_PATH/PythonVehicleSimulator-master
Note that the -e option is needed to update and change the files. If omitted, you can only run the program.