├── README.md ├── WAM-V14model ├── SIMwamv14.m ├── WAMV14.m ├── calParam.m ├── euler2.m ├── modelplot.m └── ssa.m ├── 包含控制-2VLeader-LMPC ├── CS1.m ├── CS1tf.m ├── CS2.m ├── CS2tf.m ├── CS3.m ├── CS3tf.m ├── CS4.m ├── CS4tf.m ├── CoordinateTrans.m ├── ESO1.m ├── ESO2.m ├── ESO3.m ├── ESO4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── Kerector.m ├── LMPCnavi1.m ├── LMPCnavi2.m ├── LMPCnavi3.m ├── LMPCnavi4.m ├── NMPC1.m ├── NMPC2.m ├── NMPC3.m ├── NMPC4.m ├── Navigation1.m ├── Navigation2.m ├── Navigation3.m ├── Navigation4.m ├── calAkBk.m ├── calWeight.m ├── confun1.m ├── confun2.m ├── confun3.m ├── confun4.m ├── costfun1.m ├── costfun2.m ├── costfun3.m ├── costfun4.m ├── euler2.m ├── fX.m ├── follower1.m ├── follower2.m ├── follower3.m ├── follower4.m ├── main.m ├── modelplot.m ├── myAnimation.m ├── ssa.m ├── superLeader0.m ├── test.gif ├── testCMG.m ├── testPoly.m ├── usvdetection.m ├── virtualLeader1.m └── virtualLeader2.m ├── 包含控制-2VLeader-NMPC ├── CS1.m ├── CS1tf.m ├── CS2.m ├── CS2tf.m ├── CS3.m ├── CS3tf.m ├── CS4.m ├── CS4tf.m ├── CoordinateTrans.m ├── ESO1.m ├── ESO2.m ├── ESO3.m ├── ESO4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── KK1.mat ├── KK1_data.mat ├── KK2.mat ├── KK3.mat ├── KK4.mat ├── Kerector.m ├── NMPC1.m ├── NMPC2.m ├── NMPC3.m ├── NMPC4.m ├── NN.mat ├── Navigation1.m ├── Navigation2.m ├── Navigation3.m ├── Navigation4.m ├── Nrm1.mat ├── Nrm1_data.mat ├── Nrm2.mat ├── Nrm3.mat ├── Nrm4.mat ├── Obstacle.mat ├── Tm.mat ├── Weight.mat ├── Xdk1_data.mat ├── Xdk2_data.mat ├── Xdk3_data.mat ├── Xdk4_data.mat ├── Xk1_data.mat ├── Xk2_data.mat ├── Xk3_data.mat ├── Xk4_data.mat ├── calWeight.m ├── confun1.m ├── confun2.m ├── confun3.m ├── confun4.m ├── costfun1.m ├── costfun2.m ├── costfun3.m ├── costfun4.m ├── euler2.m ├── fX.m ├── follower1.m ├── follower2.m ├── follower3.m ├── follower4.m ├── main.m ├── modelplot.m ├── myAnimation.m ├── ssa.m ├── superLeader0.m ├── test.gif ├── testCMG.m ├── testPoly.m ├── usvdetection.m ├── virtualLeader1.m └── virtualLeader2.m ├── 论文复现1 ├── ASV0.m ├── ASV1.m ├── ASV2.m ├── ASV3.m ├── ASV4.m ├── Formationtest.m ├── LOS.m ├── Lidar.m ├── TD1.m ├── USV.m ├── USVtest.m ├── euler2.m ├── finalcontrollaw1.m ├── finalcontrollaw2.m ├── finalcontrollaw3.m ├── finalcontrollaw4.m ├── kinematiclaw1.m ├── kinematiclaw2.m ├── kinematiclaw3.m ├── kinematiclaw4.m ├── modelplot.m ├── myAnimation.m ├── pathfollowingcontrollaw.m └── ssa.m ├── 论文复现2-GVF-LinearFunction-CyberShipII ├── ASV1.m ├── ASV2.m ├── ASV3.m ├── ASV4.m ├── ASV5.m ├── CS1.m ├── CS2.m ├── CS3.m ├── CS4.m ├── CS5.m ├── GVF1.m ├── GVF2.m ├── GVF3.m ├── GVF4.m ├── GVF5.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Guidance5.m ├── Kerector.m ├── PathInfo.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── ctr5.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m └── ssa.m ├── 论文复现2-GVF-LinearFunction ├── ASV1.m ├── ASV2.m ├── ASV3.m ├── ASV4.m ├── ASV5.m ├── GVF1.m ├── GVF2.m ├── GVF3.m ├── GVF4.m ├── GVF5.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Guidance5.m ├── Kerector.m ├── PathInfo.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── ctr5.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m └── ssa.m ├── 论文复现2-GVF-QuadraticFunction-CyberShipII ├── ASV1.m ├── ASV2.m ├── ASV3.m ├── ASV4.m ├── ASV5.m ├── CS1.m ├── CS2.m ├── CS3.m ├── CS4.m ├── CS5.m ├── GVF1.m ├── GVF2.m ├── GVF3.m ├── GVF4.m ├── GVF5.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Guidance5.m ├── Kerector.m ├── PathInfo.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── ctr5.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m └── ssa.m ├── 论文复现2-GVF-QuadraticFunction ├── ASV1.m ├── ASV2.m ├── ASV3.m ├── ASV4.m ├── ASV5.m ├── GVF1.m ├── GVF2.m ├── GVF3.m ├── GVF4.m ├── GVF5.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Guidance5.m ├── Kerector.m ├── PathInfo.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── ctr5.m ├── euler2.m ├── main1.asv ├── main1.m ├── modelplot.m ├── myAnimation.m └── ssa.m ├── 论文复现2-GVF-SinFunction-CyberShipII ├── ASV1.m ├── ASV2.m ├── ASV3.m ├── ASV4.m ├── ASV5.m ├── CS1.m ├── CS2.m ├── CS3.m ├── CS4.m ├── CS5.m ├── GVF1.m ├── GVF2.m ├── GVF3.m ├── GVF4.m ├── GVF5.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Guidance5.m ├── Kerector.m ├── PathInfo.m ├── ctr1.m ├── ctr2.asv ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── ctr5.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m ├── myPlotLine.m └── ssa.m ├── 论文复现2 ├── ASV1.m ├── ASV2.m ├── ASV3.m ├── ASV4.m ├── ASV5.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Guidance5.m ├── Kerector.m ├── PathInfo.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── ctr5.m ├── euler2.m ├── main1.m ├── modelplot.m └── myAnimation.m ├── 论文复现3-包含控制-APF-正弦-2VLeader-坐标变换-ESO ├── APF_O.m ├── APF_usv.m ├── CMG1.m ├── CMG2.m ├── CMG3.m ├── CMG4.m ├── CS1.m ├── CS1tf.m ├── CS2.m ├── CS2tf.m ├── CS3.m ├── CS3tf.m ├── CS4.m ├── CS4tf.m ├── CoordinateTrans.m ├── ESO1.m ├── ESO2.m ├── ESO3.m ├── ESO4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Kerector.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m ├── myPlotLine.m ├── odetection.m ├── plotCircle.m ├── ssa.m ├── superLeader0.m ├── usvdetection.m ├── virtualLeader1.m ├── virtualLeader2.m ├── virtualLeader3.m └── virtualLeader4.m ├── 论文复现3-包含控制-APF-正弦-2VLeader-坐标变换-NN-ESO-CBF-BLF ├── APF_O.m ├── APF_usv.m ├── CMG1.m ├── CMG2.m ├── CMG3.m ├── CMG4.m ├── CS1.m ├── CS1tf.m ├── CS2.m ├── CS2tf.m ├── CS3.m ├── CS3tf.m ├── CS4.m ├── CS4tf.m ├── CoordinateTrans.m ├── ESO1.m ├── ESO2.m ├── ESO3.m ├── ESO4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── Guidance1.m ├── Guidance11.m ├── Guidance2.m ├── Guidance22.m ├── Guidance3.m ├── Guidance33.m ├── Guidance4.m ├── Guidance44.m ├── Kerector.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m ├── myPlotLine.m ├── nnctr1.m ├── nnctr2.m ├── nnctr3.m ├── nnctr4.m ├── odetection.m ├── plotCircle.m ├── ssa.m ├── superLeader0.m ├── usvdetection.m ├── virtualLeader1.m └── virtualLeader2.m ├── 论文复现3-包含控制-APF-正弦-2VLeader-坐标变换-NN-ESO-PP-ETM ├── APF_O.m ├── APF_usv.m ├── CMG1.m ├── CMG2.m ├── CMG3.m ├── CMG4.m ├── CS1.m ├── CS1tf.m ├── CS2.m ├── CS2tf.m ├── CS3.m ├── CS3tf.m ├── CS4.m ├── CS4tf.m ├── CoordinateTrans.m ├── ESO1.m ├── ESO2.m ├── ESO3.m ├── ESO4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── Guidance1.m ├── Guidance11.m ├── Guidance2.m ├── Guidance22.m ├── Guidance3.m ├── Guidance33.m ├── Guidance4.m ├── Guidance44.m ├── Kerector.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── euler2.m ├── main1.asv ├── main1.m ├── modelplot.m ├── myAnimation.m ├── myPlotLine.m ├── nnctr1.m ├── nnctr2.m ├── nnctr3.m ├── nnctr4.m ├── odetection.m ├── plotCircle.m ├── ssa.m ├── superLeader0.m ├── usvdetection.m ├── virtualLeader1.m ├── virtualLeader2.m ├── virtualLeader3.m └── virtualLeader4.m ├── 论文复现3-包含控制-APF-正弦-2VLeader-坐标变换-NN-ESO ├── APF_O.m ├── APF_usv.m ├── CMG1.m ├── CMG2.m ├── CMG3.m ├── CMG4.m ├── CS1.m ├── CS1tf.m ├── CS2.m ├── CS2tf.m ├── CS3.m ├── CS3tf.m ├── CS4.m ├── CS4tf.m ├── CoordinateTrans.m ├── ESO1.m ├── ESO2.m ├── ESO3.m ├── ESO4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── Guidance1.m ├── Guidance11.m ├── Guidance2.m ├── Guidance22.m ├── Guidance3.m ├── Guidance33.m ├── Guidance4.m ├── Guidance44.m ├── Kerector.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m ├── myPlotLine.m ├── nnctr1.m ├── nnctr2.m ├── nnctr3.m ├── nnctr4.m ├── odetection.m ├── plotCircle.m ├── ssa.m ├── superLeader0.m ├── usvdetection.m ├── virtualLeader1.m ├── virtualLeader2.m ├── virtualLeader3.m └── virtualLeader4.m ├── 论文复现3-包含控制-APF-直线-4VLeader ├── APF_O.m ├── APF_usv.m ├── CMG1.m ├── CMG2.m ├── CMG3.m ├── CMG4.m ├── CS1.m ├── CS2.m ├── CS3.m ├── CS4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Kerector.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── euler2.m ├── main1.m ├── modelplot.m ├── myAnimation.m ├── myPlotLine.m ├── odetection.m ├── plotCircle.m ├── ssa.m ├── superLeader0.m ├── usvdetection.m ├── virtualLeader1.m ├── virtualLeader2.m ├── virtualLeader3.m └── virtualLeader4.m ├── 论文复现3-包含控制-APF ├── APF_O.m ├── APF_usv.m ├── CMG1.m ├── CMG2.m ├── CMG3.m ├── CMG4.m ├── CS1.m ├── CS2.m ├── CS3.m ├── CS4.m ├── ETM1.m ├── ETM2.m ├── ETM3.m ├── ETM4.m ├── Guidance1.m ├── Guidance2.m ├── Guidance3.m ├── Guidance4.m ├── Kerector.m ├── ctr1.m ├── ctr2.m ├── ctr3.m ├── ctr4.m ├── euler2.m ├── main1.asv ├── main1.m ├── modelplot.m ├── myAnimation.m ├── myPlotLine.m ├── odetection.m ├── plotCircle.m ├── ssa.m ├── superLeader0.m ├── usvdetection.m ├── virtualLeader1.m ├── virtualLeader2.m ├── virtualLeader3.m └── virtualLeader4.m └── 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