Copyright © 2020 by Yifan Xue All rights reserved.
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