Copyright © 2020 by Yifan Xue All rights reserved.

If you use the code in this project, please cite the following paper.

Xue, Yifan, et al. "Real-time nonlinear model predictive control of unmanned surface vehicles for trajectory tracking and collision avoidance." 2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE). IEEE, 2021.

The paper can be downloaded from https://ieeexplore.ieee.org/document/9384818

Download CasADi from: https://web.casadi.org/get/

Add 'CasADi' and 'Real-time-NMPC-for-USVs-CasADi' to the MATLAB working path

Use 'Drawtool' can generate animation

Some codes from Mohamed W. Mehrez's work: https://github.com/MMehrez/MPC-and-MHE-implementation-in-MATLAB-using-Casadi/tree/master/workshop_github