USVSimulator_WAMV16.m

• Plots whole trajectory of the USV.
• Uses the WAM-V 16 from the Seoul National Univerity.

PathFollowingControl.m

• Plots sequential position of the vessel.

• Controls the heading angle with P contorller

• The variables you can adjust are

  - The limit of the thrust
    line 6 thrustLimit    
  
  - Inital position of the vessel
    line 10 xEarth       
    line 11 yEarth 
    line 12 psi 
   
  - Initial velocity of the vessel
    line 15 uBody
    line 16 vBody
    line 17 r
  
  - Waypoints represented as 
    [[x of first waypoint, y of first waypoint];
    [x of second waypoint, y of second waypoint];
    [x of third waypoint, y of third waypoint];
    ...]]
    line 29 waypoint
  
  - Time interval for simulation 
    line 34 dt
   
  - Reaching criterion to the waypoints
    line 35 reach
   
  - P gain for the P controller
    This value means how much strong you intend to control the actuator
    line 69 pGain
  

Videos of my work

• https://www.youtube.com/channel/UCzc6kpN_sNNwWaH-f5LIUVw?view_as=subscriber