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Astik-2002 / Dynamic-artificial-potential-field-algorithm-for-cooperative-obstacle-avoidance-for-fixed-wing-UAV

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how to solve the problem : Unrecognized function or variable 'fullscreen' 'gif' 'polygon_generator' #1

Open renrrr opened 8 months ago

renrrr commented 8 months ago

Unrecognized function or variable 'fullscreen' Unrecognized function or variable 'gif' Unrecognized function or variable 'polygon_generator'

another question : when i run 'multi_obstacle_sim.m' produce the error :[Index in position 2 exceeds array bounds (must not exceed 1)]

error mpf_multi_obs (第 9 行) v_rel(2) = v_ob(i,2) - v_UAV(2);

error multi_obstacle_sim (第 59 行) v = mpf_multi_obs(x_pos,y_pos,obs,v_rel,a,b,k_rep,x_goal,y_goal,k_att);

@Astik-2002

Astik-2002 commented 8 months ago

Hello @renrrr. You can comment out fullscreen and gif, as these are custom packages and just for presentation purposes.

Astik-2002 commented 8 months ago

For the array issue, there is a bug in the code. The arguments given to mpf_multi_obs are not correct. The function accepts uav pos (x_pos,y_pos), theta angle (angle of rotation of ellipse, equal to the inverse tan of y component of relative velocity and x component of relative velocity between obstacle i and uav), array of obstacle positions (obs), array of obstacle velocities (v_ob), repulsive constant k_rep0, uav speed (V), goal positions (x_goal, y_goal)