AUTOBargeSim: MATLAB(R) toolbox for the design and analysis of the guidance and control system for autonomous inland vessels

Abhishek Dhyani; Amirreza Haqshenas Mojaveri; Chengqian Zhang; Dhanika Mahipala; Hoang Anh Tran; Yan-Yun Zhang; Zhongbi Luo; Vasso Reppa

arXiv · 2503.21594

AUTOBargeSim: MATLAB(R) toolbox for the design and analysis of the guidance and control system for autonomous inland vessels

Abhishek Dhyani·Amirreza Haqshenas Mojaveri·Chengqian Zhang·Dhanika Mahipala·Hoang Anh Tran·Yan-Yun Zhang·Zhongbi Luo·Vasso Reppa

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Abstract

This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous inland navigation, including mapping, modelling, control design, and collision avoidance, through examples and extensively documented code. Applying modular design principles in the simulator structure allows it to be easily modified according to the user's requirements. Furthermore, a GUI interface facilitates a simple and quick execution. Key performance indices for evaluating the performance of the controller and collision avoidance method in confined space are also provided. The current version of AUTOBargeSim attempts to improve reproducibility in the design and simulation of marine systems while serving as a foundation for simulating and evaluating vessel behaviour considering operational, system, and environmental constraints.

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BibTeX RIS

Abhishek Dhyani, Amirreza Haqshenas Mojaveri, Chengqian Zhang, Dhanika Mahipala, Hoang Anh Tran, Yan-Yun Zhang, Zhongbi Luo, Vasso Reppa. 2025-06-18. AUTOBargeSim: MATLAB(R) toolbox for the design and analysis of the guidance and control system for autonomous inland vessels. https://arxiv.org/abs/2503.21594

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