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This submission contains the files used in this video on Modeling, Simulation and Control of an Autonomous Underwater vehicle. 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.
Aerospace Blockset is used to model the dynamics of the vehicle. Watch this video to learn how to model the thrusters using system identification
- AUVmodelingandsim.prj - Launches the project and sets up the environment appropriately.
- resources - project resources
- Files\AUV_Model.slx - Simulink model with the AUV model
- Files\setax.m - MATLAB helper function to visualize the AUV
Please write to roboticsarena@mathworks.com with any questions or suggestions
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.