This repository contains the model associated with the blog Controller Design for WAM-V on MathWorks® Student Lounge. This also serves as a starter code for the MathWorks Simulation Award at RobotX 2024. The model uses MATLAB® 2024a and Simulink® for the controller design and interfaces with VRX simulation environment, developed by Open Source Robotics Foundation (OSRF) and the Naval Postgraduate School.
To get started, install the VRX Simulator as described in this tutorial and clone this repository. Start the simulation and ensure the ROS topics published by the simulator is visible to MATLAB and then open the WAMV_control.prj which should open the model shown below. Run the Simulink model to publish the thrust commands to the simulator for following the reference path/goal. More details can be found in the blog linked above.
The model requires the following products:
For questions or clarifications on the model, please contact [email protected]
The license is available in the license.txt file in this GitHub repository.
Copyright 2024 The MathWorks, Inc.