MATLAB Simulation of a Pursuit Trajectory with Target Velocity

clc; \u000d\nclear; \u000d\n\u000d\nVm = 750; \u000d\n% maximum velocity \u000d\nVt = 600; \u000d\n% target velocity \u000d\nr0 = 1000; \u000d\n% initial distance to target \u000d\nq0 = 90; \u000d\n% initial angle \u000d\nx = 0; \u000d\n% initial x-coordinate \u000d\ny = 0; \u000d\n% initial y-coordinate \u000d\nX = 0; \u000d\n% final x-coordinate \u000d\nY = 1000; \u000d\n% final y-coordinate \u000d\nx1 = 0; \u000d\n% relative x-coordinate \u000d\ntime = 0; \u000d\n% initial time \u000d\ninterval = 0.01; \u000d\n% time interval \u000d\nD = [time;q0]; \u000d\n% initial angle and time \u000d\nDD = [D' x y 0 1000 0]; \u000d\n% matrix to store data \u000d\n\u000d\nwhile(x<=X) \u000d\n\u000d\n D = [time;atand((Y-y)/(X-x))]; \u000d\n % calculate angle based on current position \u000d\n \u000d\n x = x + Vmcosd(D(2))interval; \u000d\n % update x-coordinate \u000d\n y = y + Vmsind(D(2))interval; \u000d\n % update y-coordinate \u000d\n X = X + 600interval; \u000d\n % update final x-coordinate \u000d\n \u000d\n x1 = x1 + (Vmcosd(D(2))-600)*interval; \u000d\n % update relative x-coordinate \u000d\n \u000d\n DD = [DD;D' x y X Y x1]; \u000d\n % store data in matrix \u000d\n time = time + interval; \u000d\n % update time \u000d\n\u000d\nend \u000d\n\u000d\n% Plotting the trajectory \u000d\nfigure(1); \u000d\nplot(DD(:,3),DD(:,4),'LineWidth',1.5);hold on; \u000d\n% plot x versus y \u000d\nplot(DD(:,5),DD(:,6),'r','LineWidth',1.5); \u000d\n% plot X versus Y \u000d\n\u000d\n% Plotting the relative x-coordinate \u000d\nfigure(2); \u000d\nplot(DD(:,7),DD(:,4),'LineWidth',1.5);hold on; \u000d\n% plot x1 versus y