Master thesis repo for implementation of Model Predictive Controller and Reinforcement Learning (RL) controller for an Otter USV.
The repo make use of a modifyed version of Fossen Vehicle Simulator with edited files. Casadi is used for implementing a 3DOF model of the Otter together with an IPOPT solver and RungeKutta 4-dim for diskretisation.
The thesis may be found here: https://oda.oslomet.no/oda-xmlui/handle/11250/3100591