/ShipAutopilot

Primary LanguageMATLABMIT LicenseMIT

ShipAutopilot

  • USVSimulator_WAMV16.m

    • Plots whole trajectory of the USV.
    • Uses the WAM-V 16 from the Seoul National Univerity.

  • PathFollowingControl.m

    • Plots sequential position of the vessel.

    • Controls the heading angle with P contorller

    • The variables you can adjust are

      - The limit of the thrust
  line 6 thrustLimit    

- Inital position of the vessel
  line 10 xEarth       
  line 11 yEarth 
  line 12 psi 
 
- Initial velocity of the vessel
  line 15 uBody
  line 16 vBody
  line 17 r

- Waypoints represented as 
  [[x of first waypoint, y of first waypoint];
  [x of second waypoint, y of second waypoint];
  [x of third waypoint, y of third waypoint];
  ...]]
  line 29 waypoint

- Time interval for simulation 
  line 34 dt
 
- Reaching criterion to the waypoints
  line 35 reach
 
- P gain for the P controller
  This value means how much strong you intend to control the actuator
  line 69 pGain

  • Videos of my work