MaxFish simulator

This project includes a MAXFISH simulator for MATLAB/ Simulink and a GUI application. The goal is to provide an advanced and controllable tool that can simulate in precise detail the NGC system of a robotic bio-inspired fish. The simulator allows for the execution of programmed trajectories and for analysis of the fish’s dynamic behavior. It deals with the mathematical model of kinematics and dynamics, as well as the propulsion system and NGC system, including line of sight guidance law and path following control system using PID, creating an accurate virtual model of the fish, through the 3D World Editor (native VRML editor), which is included in the Simulink 3D Animation. This enables the identification of potential issues, optimization of performance, and evaluation of the system’s robustness in a detailed and controlled manner. The application facilitates users to simulate and analyze data with greater control. Its intuitive interface allows for modification of physical parameters of the fish, such as masses and component lengths, and to start the desired simulation. The application GUI performs several tasks, including importing model parameters from an Excel file, starting the simulation of the Simulink model, plotting variables of interest in the simulation, plotting the trajectory taken by MAXFISH and the desired trajectory.