MATLAB: PLEASE SOMEONE HELP ME WITH THE ODE23 ERROR

MATLABmatlab functionode23

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

Best Answer

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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