What to do when he won't move out

Although we have been at the point of divorce many times before, I believe I will go through with it this time. I am completely burned out and am tired of his ADHD and depression. I need to get on with my life! He is very angry and refuses to leave our home. I am willing to compensate him fairly for this, however, he is very angry (as usual)! I live in NJ. Anyone have any advice? Do I wait for his anger to subside? Do I see a lawyer and be aggressive? I was hoping to do this civilly thru a mediator. I want our divorce to be more dignified than our marriage.... We have one 16 yr old daughter.