PLEASE SOMEONE HELP ME WITH THE ODE23 ERROR

2020 4 8
1 个回答
回答已采纳
更新时间：2020 4 22
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0 个投票

I am gettting an ode23 error when i run y code please help me solve this issue.
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

5 个评论
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Steven Lord
Steven Lord 2020-4-8
What is the full and exact text (everything displayed in red exactly as it is displayed; don't summarize or trim out 'unnecessary' parts) of the error message you received?
Rahul Bhaumik
Rahul Bhaumik 2020-4-8
Error in NAviGAtiON (line 7)
[t x]=ode23(@vehicle,time,x0);
This is the error text. Thanks a lot for helping.
Rahul Bhaumik
Rahul Bhaumik 2020-4-8
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);
Rahul Bhaumik
Rahul Bhaumik 2020-4-8
@Steven Lord, I have fixed all the issues with the code but now the output result is not the one expected.
The vehicle does not reach the final goal in the plot.
The final code and the result are as follows. Kindly find the attachment.
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),Obs1(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;
L=2;
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*(Obs1(1)-x(1))/ro1^3;
Fo1y=-Ko*(Obs1(2)-x(2))/ro1^3;
ro2=sqrt((Obs2(1)-x(1))^2+(Obs2(2)-x(2)^2));
Fo2x=-Ko*(Obs2(1)-x(1))/ro2^3;
Fo2y=-Ko*(Obs2(2)-x(2))/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

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 采纳的回答

Steven Lord
Steven Lord 2020-4-8

0 个投票

Nowhere in the code you posted do you define a variable named ro2. On the line before you tried to use ro2 you defined a variable named ro1. Perhaps you meant to use ro1 instead of ro2, or perhaps you intended to define a variable named ro2 instead of one named ro1?

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