HAVING ISSUES WITH THE PLOT RESULT

Rahul Bhaumik

2020 4 9

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4 次查看（30 天）

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untitled.jpg

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

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Steven Lord 2020-4-9

It's going to be difficult if not impossible to determine why this code doesn't behave as you expect without more information about the problem you're trying to solve.

But before you post that additional information, you should probably go back to the equations that you've tried to implement and check that your code and those equations match. Sometimes a simple typo (a 2 in place of a 1) can cause massive differences between what you think you're calculating and what you're actually calculating.

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