MATLAB: URGENT HELP NEEDED FOR PROJECT

MATLABmatlab functionode23

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

Best Answer

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.
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