URGENT HELP NEEDED FOR PROJECT
1 view (last 30 days)
Show older comments
Please help me solve this issue I am getting a ode23error the code is as follows
function [t,x] = NAviGAtiON()
clc
time=[0 300];
x0=[0;0;0];
[t x]=ode23(@vehicle,time,x0);
plot(x(:,1),x(:,2),'r',Goal(1),Goal(2),'o',Obs1(1),Obsl(2),'x',Obs2(1),Obs2(2),'x')
axis([0 12 0 12])
function dx = vehicle(t,x)
Goal=[10;10];
Obs1=[3;3];
Obs2=[9;9];
KG=30;
Ko=30;
rG=sqrt((Goal(1)-x(1))^2+(Goal(2)-x(2)^2));
FGx=KG*(Goal(1)-x(1))/rG;
FGy=KG*(Goal(2)-x(2))/rG;
ro1=sqrt((Obs1(1)-x(1))^2+(Obs1(2)-x(2)^2));
Fo1x=-Ko*(Obs2(1)-x(1))/ro2^3;
Fo2y=-Ko*(Obs2(2)-x(1))/ro2^3;
Fx=(FGx+Fo1x+Fo2x);
Fy=(FGy+Fo1y+Fo2y);
alpha=atan(Fy/Fx);
v=1;L=2;
if rG<0.05
v=0;
end
K=2;
ph=(k*(alpha-x(3)));
dx=[v*cos(ph)*cos(x(3));v*cos(ph)*sin(x(3));v*sin(ph)/L];
end
end
2 Comments
Accepted Answer
Geoff Hayes
on 8 Apr 2020
Rahul - when I run your code, I observe the following error
Undefined function or variable 'ro2'.
Error in NAviGAtiON/vehicle (line 23)
Fo1x=-Ko*(Obs2(1)-x(1))/ro2^3;
Error in odearguments (line 87)
f0 = feval(ode,t0,y0,args{:}); % ODE15I sets args{1} to yp0.
Error in ode23 (line 112)
[neq, tspan, ntspan, next, t0, tfinal, tdir, y0, f0, odeArgs, odeFcn, ...
Error in NAviGAtiON (line 7)
[t x]=ode23(@vehicle,time,x0);
If you look closely at the code
ro1=sqrt((Obs1(1)-x(1))^2+(Obs1(2)-x(2)^2));
Fo1x=-Ko*(Obs2(1)-x(1))/ro2^3;
Fo2y=-Ko*(Obs2(2)-x(1))/ro2^3;
ro1 is defined but never used, and the subsequent two lines reference ro2 which has never been defined. So you need to either define ro2 or use ro1 instead. Or do both.
You'll have a similar problem with
Fx=(FGx+Fo1x+Fo2x);
Fy=(FGy+Fo1y+Fo2y);
where Fo2x and fo1y have never been defined. Also you define K=2 but use a lower case 'k' afterwards, Obsl instead of Obs1, etc.
0 Comments
More Answers (0)
See Also
Products
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!