https://github.com/cybergalactic/pythonvehiclesimulator
The Python Vehicle Simulator is software that supplements the textbook "Handbook of Marine Craft Hydrodynamics and Motion Control," 2nd Edition, by T. I. Fossen, published in 2021 by John Wiley & Sons Ltd.
https://github.com/cybergalactic/pythonvehiclesimulator
autopilot auv control control-systems guidance marine-systems-simulator navigation ship simulation simulator underwater-robotics underwater-vehicles usv
Last synced: 2 months ago
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The Python Vehicle Simulator is software that supplements the textbook "Handbook of Marine Craft Hydrodynamics and Motion Control," 2nd Edition, by T. I. Fossen, published in 2021 by John Wiley & Sons Ltd.
- Host: GitHub
- URL: https://github.com/cybergalactic/pythonvehiclesimulator
- Owner: cybergalactic
- License: mit
- Created: 2020-04-17T13:28:42.000Z (about 5 years ago)
- Default Branch: master
- Last Pushed: 2025-05-13T10:53:03.000Z (2 months ago)
- Last Synced: 2025-05-13T11:40:52.251Z (2 months ago)
- Topics: autopilot, auv, control, control-systems, guidance, marine-systems-simulator, navigation, ship, simulation, simulator, underwater-robotics, underwater-vehicles, usv
- Language: Python
- Homepage: https://python.fossen.biz
- Size: 844 KB
- Stars: 255
- Watchers: 9
- Forks: 64
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Python Vehicle Simulator
The Python Vehicle Simulator supplements 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 in /MSS/VESSELS/catalog. 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``` defines vehicle objects for real-time simulation.
Root folder:
/src/python_vehicle_simulator/
main.py - MAIN PROGRAM (terminal command >>python3 main.py)
3D_animation.gif - 3D animation file that 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
torpedo.py - Cylinder-shaped torpedo controlled by a rudder, stern planes and a propeller, L = 1.6 m
For more information about the 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.
https://wiley.fossen.biz
## Install:
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
These dependencies will be automatically installed using the following command:
```pip install -e ```
where `````` is the location of the downloaded or cloned PythonVehicleSimulator repository.
####Example:
1. Go to [https://github.com/cybergalactic/PythonVehicleSimulator](https://github.com/cybergalactic/PythonVehicleSimulator)
2. Click the green Code button and choose Download ZIP
3. Extract the ZIP file (you’ll get a folder like PythonVehicleSimulator-main, which you can rename it if desired).
3. Open a terminal and run:
```python3 -m pip install -e /MY_PATH/PythonVehicleSimulator-main``
Replace /MY_PATH/ with the actual path on your system.
**Note:**
The -e option installs the simulator in editable mode, which allows you to modify the source files and immediately see changes. If you omit -e, you can still run the program, but changes to the code won’t take effect until you reinstall the package.
To run tests:
pip install pytest
pytest