Hello,
I’m having issues getting a simple waypoint navigation code to work. I am simulating the movement of an RC boat that should navigate from its current location and move to waypoints. Current location and waypoints are inputs and the distance to the waypoint and bearing are outputs. Once the last waypoint is reached, I want the boat to circle back to the first waypoint and the loop continues. What I have is as follows:
function [s, bearing] = waypoint_navigation(lat1, lon1, waypoints)
s=zeros(1);
bearing=zeros(1);
R = 6371e3; % Earth’s radius in meters
lat1 = deg2rad(lat1);
lon1 = deg2rad(lon1);

for i=1:length(waypoints)
lat2 = deg2rad(waypoints(i, 1));
lon2 = deg2rad(waypoints(i, 2));
[s(i), bearing(i)] = haversine_distance_and_bearing(lat1, lon1, lat2(i,1), lon2(i,1)); % haversine_distance_and_bearing is a custom function I’ve created

if s < 5 % Distance threshold
% Increment the waypoint index to go to the next waypoint
i = i + 1;
end

% Loop back to the first waypoint if at the last waypoint
if i > length(waypoints)
i = 1;
end
end
end

Running this results in the error: Error:An error occurred during simulation and the simulation was terminated
Caused by:
Index exceeds array dimensions. Index value 2 exceeds valid range [1-1] for array ‘lat2’.
Error in ‘Test_PlantID/Waypoint Navigation’ (line 11)
[s(i), bearing(i)] = haversine_distance_and_bearing(lat1, lon1, lat2(i,1), lon2(i,1));

I’d appreciate some help on this, I feel like I’m missing something very basic here. Thanks in advance!Hello,
I’m having issues getting a simple waypoint navigation code to work. I am simulating the movement of an RC boat that should navigate from its current location and move to waypoints. Current location and waypoints are inputs and the distance to the waypoint and bearing are outputs. Once the last waypoint is reached, I want the boat to circle back to the first waypoint and the loop continues. What I have is as follows:
function [s, bearing] = waypoint_navigation(lat1, lon1, waypoints)
s=zeros(1);
bearing=zeros(1);
R = 6371e3; % Earth’s radius in meters
lat1 = deg2rad(lat1);
lon1 = deg2rad(lon1);

for i=1:length(waypoints)
lat2 = deg2rad(waypoints(i, 1));
lon2 = deg2rad(waypoints(i, 2));
[s(i), bearing(i)] = haversine_distance_and_bearing(lat1, lon1, lat2(i,1), lon2(i,1)); % haversine_distance_and_bearing is a custom function I’ve created

if s < 5 % Distance threshold
% Increment the waypoint index to go to the next waypoint
i = i + 1;
end

% Loop back to the first waypoint if at the last waypoint
if i > length(waypoints)
i = 1;
end
end
end

Running this results in the error: Error:An error occurred during simulation and the simulation was terminated
Caused by:
Index exceeds array dimensions. Index value 2 exceeds valid range [1-1] for array ‘lat2’.
Error in ‘Test_PlantID/Waypoint Navigation’ (line 11)
[s(i), bearing(i)] = haversine_distance_and_bearing(lat1, lon1, lat2(i,1), lon2(i,1));

I’d appreciate some help on this, I feel like I’m missing something very basic here. Thanks in advance! Hello,
I’m having issues getting a simple waypoint navigation code to work. I am simulating the movement of an RC boat that should navigate from its current location and move to waypoints. Current location and waypoints are inputs and the distance to the waypoint and bearing are outputs. Once the last waypoint is reached, I want the boat to circle back to the first waypoint and the loop continues. What I have is as follows:
function [s, bearing] = waypoint_navigation(lat1, lon1, waypoints)
s=zeros(1);
bearing=zeros(1);
R = 6371e3; % Earth’s radius in meters
lat1 = deg2rad(lat1);
lon1 = deg2rad(lon1);

for i=1:length(waypoints)
lat2 = deg2rad(waypoints(i, 1));
lon2 = deg2rad(waypoints(i, 2));
[s(i), bearing(i)] = haversine_distance_and_bearing(lat1, lon1, lat2(i,1), lon2(i,1)); % haversine_distance_and_bearing is a custom function I’ve created

if s < 5 % Distance threshold
% Increment the waypoint index to go to the next waypoint
i = i + 1;
end

% Loop back to the first waypoint if at the last waypoint
if i > length(waypoints)
i = 1;
end
end
end

Running this results in the error: Error:An error occurred during simulation and the simulation was terminated
Caused by:
Index exceeds array dimensions. Index value 2 exceeds valid range [1-1] for array ‘lat2’.
Error in ‘Test_PlantID/Waypoint Navigation’ (line 11)
[s(i), bearing(i)] = haversine_distance_and_bearing(lat1, lon1, lat2(i,1), lon2(i,1));

I’d appreciate some help on this, I feel like I’m missing something very basic here. Thanks in advance! matlab, simulink, waypoints MATLAB Answers — New Questions

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