Underwater Vehicle-Manipulator Simulator

This simulator is for simulating the dynamics of an Underwater Vehicle-Manipulator System (UVMS). The simulator is implemented in Matlab/Simulink and is tested for Matlab version 2013. Please file an issue if something is not working

Content

• initUVMS.m

initialization script. Run this one time to set path variables.

• run_simulation.m

Matlab script to initialize and run simulation. Entry point of simulation.

• uvms_config.ini

Configuration file for the simulator. Holds path variables and simulation time

• uvms_functions

Includes misc matlab scripts and functions for UVMS transformations and initialization of simulation

• data

Directory with trajectory and polygon mesh data

• uvms_total.mdl

Simulink diagram with the simulator of the UVMS and controllers.

• 3rdparty

Includes the Robotics, Vision & Control toolbox for visualization Includes gnc library functions

Issues

The simulator will not work with Matlab version 2011 or below, as these versions does not support timeseries.

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