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