Python Vehicle Simulator

The Python Vehicle Simulator is a supplement to 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 located in /MSS/VESSELS/ catalogue. 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 is used to define vehicle objects for real-time simulation.

URL: https://www.fossen.biz/wiley/pythonVehicleSim.php

Root folder:
/src/python_vehicle_simulator/ 
    main.py                 - MAIN PROGRAM (terminal command >>python3 main.py)
    3D_animation.gif        - 3D animation file which 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 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. URL: www.fossen.biz/wiley

Install:

In order 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 uisng the command

pip install <path>

where <path> is the path of the downloaded PythonVehicleSimulator repository. Example:

1. Click on the green code tab on Github and choose download
2. This gives you the catalog: PythonVehicleSimulator-master (can be renamed)
3. python3 -m pip install /MY_PATH/PythonVehicleSimulator-master

Development:

To change and update the files, you need to install with the e option:

1. Clone the repository.
2. python3 -m pip install -e <path>