PLEASE SOMEONE HELP ME WITH THE ODE23 ERROR

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

[Steven Lord]

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]

Error in NAviGAtiON (line 7)

[t x]=ode23(@vehicle,time,x0);

This is the error text. Thanks a lot for helping.

[Rahul Bhaumik]

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]

@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

[Adam Danz]

Note, duplicate question from OP

https://www.mathworks.com/matlabcentral/answers/516344

Answer 1

[Steven Lord]

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?