why my code is running so slowly in the while loop

20 Août 2022
1 Réponse
Mise à jour 23 Août 2022
4 Vues (30 jours)

0 votes

Hi, im new at Matlab and im trying to implement a guidance for Uav but my while loop running so slowly.
Any suggestions for fix this trouble ?
clc;
clear all;
close all;
r = 1250;
O = [2500 2500]
Px = 2500; Py = 1000;
P = [ Px Py ];
Va = 100;
To = 4;
q22 = 0.1
psi = -0.4;
delta = 10;
K =0.5;
Rmin = 75
K2 = 35;
B = 0 : 0.001 : 2*pi;
c = (r* (cos(B)))+O(1);
d = (r* (sin(B)))+O(2);
N = (r * (cos(B)))+O(1);
M = (r * (sin(B)))+O(2);
% Wa = [0 300]; %
% Wb = [0 300]; %
Vx = Va * cos( psi );
Vy = Va * sin( psi );
thetaU = atan2(( Px - O(2)),( Py - O(1)));
d = abs(sqrt (( O(1) - Py )^2 + ( O(2) - Px )^2) - r)
xt = ((r * (cos ( thetaU+delta ))) + O(1));
yt = ((r * (sin ( thetaU+delta ))) + O(2));
Vd = Va*sin(psi-thetaU);
q11 = sqrt(abs(To / (To-d)));
psiD = atan2(( yt -Py ),( xt - Px ));
u =- ((d*q11) + sqrt(2*q11+q22^2)*Vd);
while d > 0
t = 0.05;
d = abs(sqrt (( O(1) - Py )^2 + ( O(2) - Px )^2) - r)
thetaU = atan2(( Px - O(2)),( Py - O(1)));
xt = ((r * (cos ( thetaU+delta ))) + O(1));
yt = ((r * (sin ( thetaU+delta ))) + O(2));
Vd = Va*sin(psi-thetaU);
q11 = sqrt(abs(To / (To-d)));
psiD = atan2(( yt -Py ),( xt - Px ));
u =- ((d*q11) + sqrt(2*q11+q22^2)*Vd);
psi = psiD ;
if(abs(u) > (Va^2)/Rmin)
if (u > 0)
u = (Va^2)/Rmin;
else
u = -(Va^2)/Rmin;
end
end
Vy = Va * sin ( psi ) + u * t;
Vx = Va * cos(psi) + u * t;
Px = Px + Vx *t;
Py = Py + Vy *t;
t = t + 0.1;
hold on;
plot (Px ,Py ,"r--.",O(1) , O(2) ,'b-o');
plot (c,d,'r')
plot(N,M,'k')
title("2D Carrot Chase Trajectory")
xlabel("Position");
ylabel("Position"),
end

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Réponses (1)

VBBV
VBBV le 20 Août 2022
Ran in:

0 votes

Ran in:
clc;
clear all;
close all;
r = 1250;
O = [2500 2500]
O = 1×2
2500 2500
Px = 2500; Py = 1000;
P = [ Px Py ];
Va = 100;
To = 4;
q22 = 0.1
q22 = 0.1000
psi = -0.4;
delta = 10;
K =0.5;
Rmin = 75
Rmin = 75
K2 = 35;
B = 0 : 0.001 : 2*pi;
c = (r* (cos(B)))+O(1);
d = (r* (sin(B)))+O(2);
N = (r * (cos(B)))+O(1);
M = (r * (sin(B)))+O(2);
% Wa = [0 300]; %
% Wb = [0 300]; %
Vx = Va * cos( psi );
Vy = Va * sin( psi );
thetaU = atan2(( Px - O(2)),( Py - O(1)));
d = abs(sqrt (( O(1) - Py )^2 + ( O(2) - Px )^2) - r)
d = 250
xt = ((r * (cos ( thetaU+delta ))) + O(1));
yt = ((r * (sin ( thetaU+delta ))) + O(2));
Vd = Va*sin(psi-thetaU);
q11 = sqrt(abs(To / (To-d)));
psiD = atan2(( yt -Py ),( xt - Px ));
u =- ((d*q11) + sqrt(2*q11+q22^2)*Vd);
i = 1
i = 1
t = 0.05;
while d > 0
thetaU = atan2(( Px - O(2)),( Py - O(1)));
xt = ((r * (cos ( thetaU+delta ))) + O(1));
yt = ((r * (sin ( thetaU+delta ))) + O(2));
Vd = Va*sin(psi-thetaU);
q11 = sqrt(abs(To / (To-d)));
psiD = atan2(( yt -Py ),( xt - Px ));
u =- ((d*q11) + sqrt(2*q11+q22^2)*Vd);
psi = psiD ;
if(abs(u) > (Va^2)/Rmin)
if (u > 0)
u = (Va^2)/Rmin;
else
u = -(Va^2)/Rmin;
end
end
Vy = Va * sin ( psi ) + u * t;
Vx = Va * cos(psi) + u * t;
Pxx(i) = Px + Vx *t;
Pyy(i) = Py + Vy *t;
t = t + 0.1;
d = d-1; % use one counter to check the while conditon
i = i+1;
end
plot (Pxx ,Pyy ,"r--.",O(1) , O(2) ,'b-o');
% subplot(211)
% plot (c,d,'or')
% subplot(212)
% plot(N,M,'+k')
title("2D Carrot Chase Trajectory")
xlabel("Position");
ylabel("Position"),

6 commentaires
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VBBV
VBBV le 20 Août 2022
use one counter to check the while conditon saturation
Muhammed Emin Yavuzaslan
Muhammed Emin Yavuzaslan le 22 Août 2022
Modifié(e) : Muhammed Emin Yavuzaslan le 22 Août 2022
@VBBV when i try it a different code, i get same error with your solution. What should i do ?
clc;
clear all;
close all;
r = 1250;
O = [2500 2500]
Px = 2500; Py = 1000;
P = [ Px Py ];
Va = 200;
alpha = 1;
k = 1;
Rmin = 75;
psi = -0.4;
delta = 0.1;
Vx = Va * cos( psi );
Vy = Va * sin( psi );
K =0.5;
B = 0 : 0.001 : 2*pi;%plot of circle
c = (r* (cos(B)))+O(1);
d = (r* (sin(B)))+O(2);
N = (r * (cos(B)))+O(1);
M = (r * (sin(B)))+O(2);
d = abs(sqrt (( O(2) - Py )^2 + ( O(1) - Px )^2));
theta = atan2(Py-O(2),Px-O(1));
xt = ((r * (cos ( theta+delta ))) + O(1));
yt = ((r * (sin ( theta+delta ))) + O(2));
psiD = atan2(( yt -Py ),( xt - Px ));
if d > 2*r
psid = theta-pi+asin(r/d)
psic = psid+ (Va*sin(psi-theta) /(alpha*d))
else
psid = (theta-(pi/2) - (pi/3)*(((d-r)/r)^k) );
psic = psid-(Va*sin(psi-theta)/(alpha*d))- (k*Va*pi*(d^(k-1))) / (3*(r^k)*alpha);
end
u = K*(psic-psi)*Va;
i = 1;
while abs (d) > 0
t = 0.05;
d = abs(sqrt (( O(2) - Py )^2 + ( O(1) - Px )^2) - r)
theta = atan2(Py-O(2),Px-O(1));
xt = ((r * (cos ( theta+delta ))) + O(1));
yt = ((r * (sin ( theta+delta ))) + O(2));
psiD = atan2(( yt -Py ),( xt - Px ));
if d > 2*r
psid = theta-pi+asin(r/d)
psic = psid+ (Va*sin(psi-theta) /(alpha*d))
else
psid = (theta-(pi/2) - (pi/3)*(((d-r)/r)^k) );
psic = psid-(Va*sin(psi-theta)/(alpha*d))- (k*Va*pi*(d^(k-1))) / (3*(r^k)*alpha);
end
psi = psiD;
if(abs(u) > (Va^2)/Rmin)
if (u > 0)
u = (Va^2)/Rmin;
else
u = -(Va^2)/Rmin;
end
end
Vy = Va * sin ( psi ) + u * t;
Vx = Va * cos(psi) + u * t;
Pxx(i) = Px + Vx *t;
Pyy(i) = Py + Vy *t;
t = t + 0.01;
d = d-1;
i = i+1;
hold on;
plot (Pxx ,Pyy ,"r--.",O(1) , O(2) ,'b-o');
plot (c,d,'r')
plot(N,M,'k')
title("2D Carrot Chase Trajectory")
xlabel("Position");
ylabel("Position"),
end
VBBV
VBBV le 22 Août 2022
t = 0.05;
d = abs(sqrt (( O(2) - Py )^2 + ( O(1) - Px )^2) - r)
Thats because you are putting the above 2 lines inside while loop This makes the condition always true and while loop runs indefinitely. The above lines must be outside of while loop and before beginning of loop
VBBV
VBBV le 22 Août 2022
Ran in:
Ran in:
clc;
clear all;
close all;
r = 1250;
O = [2500 2500]
O = 1×2
2500 2500
Px = 2500; Py = 1000;
P = [ Px Py ];
Va = 200;
alpha = 1;
k = 1;
Rmin = 75;
psi = -0.4;
delta = 0.1;
Vx = Va * cos( psi );
Vy = Va * sin( psi );
K =0.5;
B = 0 : 0.001 : 2*pi;%plot of circle
c = (r* (cos(B)))+O(1);
d = (r* (sin(B)))+O(2);
N = (r * (cos(B)))+O(1);
M = (r * (sin(B)))+O(2);
d = abs(sqrt (( O(2) - Py )^2 + ( O(1) - Px )^2));
theta = atan2(Py-O(2),Px-O(1));
xt = ((r * (cos ( theta+delta ))) + O(1));
yt = ((r * (sin ( theta+delta ))) + O(2));
psiD = atan2(( yt -Py ),( xt - Px ));
if d > 2*r
psid = theta-pi+asin(r/d)
psic = psid+ (Va*sin(psi-theta) /(alpha*d))
else
psid = (theta-(pi/2) - (pi/3)*(((d-r)/r)^k) );
psic = psid-(Va*sin(psi-theta)/(alpha*d))- (k*Va*pi*(d^(k-1))) / (3*(r^k)*alpha);
end
u = K*(psic-psi)*Va;
i = 1;
t = 0.05;
d = abs(sqrt (( O(2) - Py )^2 + ( O(1) - Px )^2) - r)
d = 250
while abs (d) > 0
theta = atan2(Py-O(2),Px-O(1));
xt = ((r * (cos ( theta+delta ))) + O(1));
yt = ((r * (sin ( theta+delta ))) + O(2));
psiD = atan2(( yt -Py ),( xt - Px ));
if d > 2*r
psid = theta-pi+asin(r/d)
psic = psid+ (Va*sin(psi-theta) /(alpha*d))
else
psid = (theta-(pi/2) - (pi/3)*(((d-r)/r)^k) );
psic = psid-(Va*sin(psi-theta)/(alpha*d))- (k*Va*pi*(d^(k-1))) / (3*(r^k)*alpha);
end
psi = psiD;
if(abs(u) > (Va^2)/Rmin)
if (u > 0)
u = (Va^2)/Rmin;
else
u = -(Va^2)/Rmin;
end
end
Vy = Va * sin ( psi ) + u * t;
Vx = Va * cos(psi) + u * t;
Pxx(i) = Px + Vx *t;
Pyy(i) = Py + Vy *t;
t = t + 0.01;
d = d-1;
i = i+1;
end
hold on;
plot (Pxx ,Pyy ,"r--.",O(1) , O(2) ,'b-o');
plot (c,d,'r')
plot(N,M,'k')
title("2D Carrot Chase Trajectory")
xlabel("Position");
ylabel("Position"),
Muhammed Emin Yavuzaslan
Muhammed Emin Yavuzaslan le 23 Août 2022
@VBBV Thanks for answering my quesiton. But i have a little question more.
You changed my equation
Px = Px + Vx *t;
Py = Py + Vy *t;
to this
Pxx(i) = Px + Vx *t;
Pyy(i) = Py + Vy *t;
why we did this ?
and my another quesiton is theta is related with Px and Py variables. When we did
Px--Pxx and Py--Pyy theta doesnt change. its stuck at zero but it must be change.
So what should i do
Sorry for my English. I'm trying my best
Thanks a lot
VBBV
VBBV le 23 Août 2022
Ran in:
Ran in:
This is done to save computed values in a new array during iteration in while loop.
clc;
clear all;
close all;
r = 1250;
O = [2500 2500]
O = 1×2
2500 2500
Px = 2500; Py = 1000;
P = [ Px Py ];
Va = 200;
alpha = 1;
k = 1;
Rmin = 75;
psi = -0.4;
delta = 0.1;
Vx = Va * cos( psi );
Vy = Va * sin( psi );
K =0.5;
B = 0 : 0.001 : 2*pi;%plot of circle
c = (r* (cos(B)))+O(1);
d = (r* (sin(B)))+O(2);
N = (r * (cos(B)))+O(1);
M = (r * (sin(B)))+O(2);
d = abs(sqrt (( O(2) - Py )^2 + ( O(1) - Px )^2));
theta = atan2(Py-O(2),Px-O(1));
xt = ((r * (cos ( theta+delta ))) + O(1));
yt = ((r * (sin ( theta+delta ))) + O(2));
psiD = atan2(( yt -Py ),( xt - Px ));
if d > 2*r
psid = theta-pi+asin(r/d)
psic = psid+ (Va*sin(psi-theta) /(alpha*d))
else
psid = (theta-(pi/2) - (pi/3)*(((d-r)/r)^k) );
psic = psid-(Va*sin(psi-theta)/(alpha*d))- (k*Va*pi*(d^(k-1))) / (3*(r^k)*alpha);
end
u = K*(psic-psi)*Va;
i = 1;
t = 0.05;
d = abs(sqrt (( O(2) - Py )^2 + ( O(1) - Px )^2) - r);
while abs (d) > 0
theta = atan2(Py-O(2),Px-O(1))
xt = ((r * (cos ( theta+delta ))) + O(1));
yt = ((r * (sin ( theta+delta ))) + O(2));
psiD = atan2(( yt -Py ),( xt - Px ));
if d > 2*r
psid = theta-pi+asin(r/d)
psic = psid+ (Va*sin(psi-theta) /(alpha*d))
else
psid = (theta-(pi/2) - (pi/3)*(((d-r)/r)^k) );
psic = psid-(Va*sin(psi-theta)/(alpha*d))- (k*Va*pi*(d^(k-1))) / (3*(r^k)*alpha);
end
psi = psiD;
if(abs(u) > (Va^2)/Rmin)
if (u > 0)
u = (Va^2)/Rmin;
else
u = -(Va^2)/Rmin;
end
end
Vy = Va * sin ( psi ) + u * t;
Vx = Va * cos(psi) + u * t;
Px = Px + Vx *t; %
Py = Py + Vy *t;
t = t + 0.01;
d = d-1;
i = i+1;
hold on;
plot (Px ,Py ,"ro",O(1) , O(2) ,'b-o');
title("2D Carrot Chase Trajectory")
xlabel("Position");
ylabel("Position"),
end
theta = -1.5708
theta = -1.5684
theta = -1.5656
theta = -1.5622
theta = -1.5584
theta = -1.5540
theta = -1.5490
theta = -1.5433
theta = -1.5367
theta = -1.5293
theta = -1.5207
theta = -1.5110
theta = -1.5000
theta = -1.4877
theta = -1.4740
theta = -1.4591
theta = -1.4432
theta = -1.4264
theta = -1.4090
theta = -1.3912
theta = -1.3733
theta = -1.3553
theta = -1.3376
theta = -1.3201
theta = -1.3031
theta = -1.2866
theta = -1.2707
theta = -1.2556
theta = -1.2412
theta = -1.2277
theta = -1.2151
theta = -1.2035
theta = -1.1930
theta = -1.1836
theta = -1.1754
theta = -1.1685
theta = -1.1629
theta = -1.1586
theta = -1.1559
theta = -1.1546
theta = -1.1549
theta = -1.1569
theta = -1.1606
theta = -1.1661
theta = -1.1735
theta = -1.1828
theta = -1.1941
theta = -1.2074
theta = -1.2229
theta = -1.2406
theta = -1.2606
theta = -1.2830
theta = -1.3078
theta = -1.3350
theta = -1.3649
theta = -1.3973
theta = -1.4323
theta = -1.4698
theta = -1.5097
theta = -1.5518
theta = -1.5958
theta = -1.6412
theta = -1.6875
theta = -1.7339
theta = -1.7798
theta = -1.8245
theta = -1.8674
theta = -1.9080
theta = -1.9461
theta = -1.9814
theta = -2.0138
theta = -2.0435
theta = -2.0705
theta = -2.0949
theta = -2.1171
theta = -2.1371
theta = -2.1551
theta = -2.1714
theta = -2.1861
theta = -2.1994
theta = -2.2114
theta = -2.2223
theta = -2.2322
theta = -2.2411
theta = -2.2492
theta = -2.2566
theta = -2.2634
theta = -2.2695
theta = -2.2752
theta = -2.2803
theta = -2.2850
theta = -2.2894
theta = -2.2934
theta = -2.2971
theta = -2.3005
theta = -2.3036
theta = -2.3065
theta = -2.3092
theta = -2.3117
theta = -2.3141
theta = -2.3162
theta = -2.3182
theta = -2.3201
theta = -2.3219
theta = -2.3235
theta = -2.3251
theta = -2.3265
theta = -2.3279
theta = -2.3291
theta = -2.3303
theta = -2.3315
theta = -2.3325
theta = -2.3335
theta = -2.3345
theta = -2.3354
theta = -2.3362
theta = -2.3370
theta = -2.3377
theta = -2.3385
theta = -2.3391
theta = -2.3398
theta = -2.3404
theta = -2.3410
theta = -2.3415
theta = -2.3420
theta = -2.3425
theta = -2.3430
theta = -2.3435
theta = -2.3439
theta = -2.3443
theta = -2.3447
theta = -2.3451
theta = -2.3454
theta = -2.3458
theta = -2.3461
theta = -2.3464
theta = -2.3467
theta = -2.3470
theta = -2.3473
theta = -2.3476
theta = -2.3478
theta = -2.3481
theta = -2.3483
theta = -2.3485
theta = -2.3487
theta = -2.3489
theta = -2.3491
theta = -2.3493
theta = -2.3495
theta = -2.3497
theta = -2.3499
theta = -2.3501
theta = -2.3502
theta = -2.3504
theta = -2.3505
theta = -2.3507
theta = -2.3508
theta = -2.3509
theta = -2.3511
theta = -2.3512
theta = -2.3513
theta = -2.3514
theta = -2.3515
theta = -2.3517
theta = -2.3518
theta = -2.3519
theta = -2.3520
theta = -2.3521
theta = -2.3522
theta = -2.3523
theta = -2.3523
theta = -2.3524
theta = -2.3525
theta = -2.3526
theta = -2.3527
theta = -2.3527
theta = -2.3528
theta = -2.3529
theta = -2.3530
theta = -2.3530
theta = -2.3531
theta = -2.3532
theta = -2.3532
theta = -2.3533
theta = -2.3533
theta = -2.3534
theta = -2.3535
theta = -2.3535
theta = -2.3536
theta = -2.3536
theta = -2.3537
theta = -2.3537
theta = -2.3538
theta = -2.3538
theta = -2.3538
theta = -2.3539
theta = -2.3539
theta = -2.3540
theta = -2.3540
theta = -2.3541
theta = -2.3541
theta = -2.3541
theta = -2.3542
theta = -2.3542
theta = -2.3542
theta = -2.3543
theta = -2.3543
theta = -2.3543
theta = -2.3544
theta = -2.3544
theta = -2.3544
theta = -2.3545
theta = -2.3545
theta = -2.3545
theta = -2.3546
theta = -2.3546
theta = -2.3546
theta = -2.3546
theta = -2.3547
theta = -2.3547
theta = -2.3547
theta = -2.3547
theta = -2.3548
theta = -2.3548
theta = -2.3548
theta = -2.3548
theta = -2.3548
theta = -2.3549
theta = -2.3549
theta = -2.3549
theta = -2.3549
theta = -2.3549
theta = -2.3550
theta = -2.3550
theta = -2.3550
theta = -2.3550
theta = -2.3550
theta = -2.3551
theta = -2.3551
theta = -2.3551
theta = -2.3551
theta = -2.3551
theta = -2.3551
theta = -2.3551
theta = -2.3552
theta = -2.3552
theta = -2.3552
theta = -2.3552
theta = -2.3552
theta = -2.3552

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VBBV
VBBV
le 23 Août 2022

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