Project for NTNU Course: TTK4550 Engineering Cybernetics, Specialization Project
This repository contains a MATLAB implementation of a wave-propelled uncrewed surface vehicle (USV) model, specifically for the AutoNaut. The model is based on the work of Tufte (2025), developed as part of a specialization project at NTNU.
The AutoNaut is a wave-propelled vessel designed for long-duration ocean monitoring. This project implements Tufte’s model, combining traditional ship manoeuvring theory with foil theory to simulate the vessel’s dynamics. The model is designed for ease of use in further research, control system development, and mission planning.
- The foil dynamics in the current implementation do not work properly and require further development and validation.
- Hybrid Model: Combines ship manoeuvring and foil theory for accurate simulation of wave-propelled USVs.
- MATLAB Implementation: Ready-to-use scripts for simulating vessel dynamics.
- Modular Design: Easy to extend for control systems, validation, or integration with other tools.
- MATLAB (R2020b or later recommended)
- MSS Toolbox: Required for marine systems simulations.
Install the MSS Toolbox by cloning the repository and adding it to your MATLAB path:
addpath('path/to/MSS');- Clone this repository:
git clone https://github.com/tfossdal/Autonaut.git- Open MATLAB and navigate to the project directory.
- Run the main simulation script:
SIMautonaut.m- Change the parametres of the vessel at the begging of the autonaut.m file
- Tufte, A. for doing all the modelling, and helping me understand the maths, physics and the Simulink model thoughout the project.
- Gryte, K. for being my advisor and helping me complete the project.