Index in position 1 exceeds array bounds (must not exceed 641). Error in measurements (line 117) if m(xo,yo) ==0

I got the above error and I want to get the below output:

%%%% my code is:

close all

clear all

clc

xo=-16; yo=-16; %Map cooridnates

x=-13; y=-13; th=pi/2;

rr=1; %Robot radius

r=rr; %ray vector

n=3; %Number of sensors

dT=0.4;

dbstop if error

%%% My map

xw=-16; xe=16; ys=-16; yn=16; %map dimensions, west, east, south, north

mrx=0.05; mry=0.05; % map resolution {x,y}

[xm ym]=meshgrid(xw:mrx:xe,ys:mry:yn);

m=0*xm.*ym; % initialize the map m

for i=1:size(xm,2)

for j=1:size(ym,1)

r=sqrt(xm(1,i)^2+ym(j,1)^2);

ang=atan2(ym(j,1),xm(1,i))+pi;

if 9<=r && r<=10 && (pi/15<=ang && ang<=29*pi/15)

m(j,i)=1;

elseif 6<=r && r<=7 && ~(pi-pi/6<=ang && ang<=pi+pi/6)

m(j,i)=1;

elseif -14<=xm(1,i) && xm(1,i)<-9 && -2.8<=ym(j,1) && ym(j,1)<=-1.8

m(j,i)=1;

elseif -11<=xm(1,i) && xm(1,i)<-9 && 1.8<=ym(j,1) && ym(j,1)<=2.8

m(j,i)=1;

elseif -14<=xm(1,i) && xm(1,i)<-13 && -2.8<=ym(j,1) && ym(j,1)<=14

m(j,i)=1;

elseif -11<=xm(1,i) && xm(1,i)<-10 && 2.8<=ym(j,1) && ym(j,1)<=11

m(j,i)=1;

elseif -14<=xm(1,i) && xm(1,i)<14 && 14<=ym(j,1) && ym(j,1)<=15

m(j,i)=1;

elseif -11<=xm(1,i) && xm(1,i)<11 && 11<=ym(j,1) && ym(j,1)<=12

m(j,i)=1;

elseif 14<=xm(1,i) && xm(1,i)<15 && -15<=ym(j,1) && ym(j,1)<=15

m(j,i)=1;

elseif -5<=xm(1,i) && xm(1,i)<14 && -15<=ym(j,1) && ym(j,1)<=-14

m(j,i)=1;

elseif 10<=r && r<=16 && 0.95*pi/3.5<=ang && ang<=1.05*pi/3.5

m(j,i)=1;

elseif xm(1,i)<0.98*xw || 0.98*xe<xm(1,i) || ym(j,1)<0.98*ys || 0.98*yn<ym(j,1) % Boundaries

m(j,i)=1;

end

end

end

mesh(xm,ym,m); axis image; view(0, 90); %xlabel('x'); ylabel('y');

%%%%My control

t1=[0:dT:3]; % NOISELESS

u1=[0*ones(size(t1)); -1*ones(size(t1))];

t2=[0:dT:0.8]; % NOISELESS

u2=[1*ones(size(t2)); 0*ones(size(t2))];

t3=[0:dT:1.5]; % NOISELESS

u3=[0*ones(size(t3)); 1*ones(size(t3))];

t4=[0:dT:6]; % NOISELESS

u4=[1*ones(size(t4)); 0*ones(size(t4))];

t5=[0:dT:1.5]; % NOISELESS

u5=[0*ones(size(t5)); 1*ones(size(t5))];

t6=[0:dT:1.6]; % NOISELESS

u6=[1*ones(size(t6)); 0*ones(size(t6))];

t7=[0:dT:1.5]; % NOISELESS

u7=[0*ones(size(t7)); -1*ones(size(t7))];

t8=[0:dT:19]; % NOISELESS

u8=[1*ones(size(t8)); 0*ones(size(t8))];

t9=[0:dT:1.55]; % NOISELESS

u9=[0*ones(size(t9)); 1*ones(size(t9))];

t10=[0:dT:25.6]; % NOISELESS

u10=[1*ones(size(t10)); 0*ones(size(t10))];

t11=[0:dT:1.5]; % NOISELESS

u11=[0*ones(size(t11)); 0.98*ones(size(t11))];

t12=[0:dT:24]; % NOISELESS

u12=[1*ones(size(t12)); 0*ones(size(t12))];

t13=[0:dT:1.5]; % NOISELESS

u13=[0*ones(size(t13)); 0.98*ones(size(t13))];

t14=[0:dT:13]; % NOISELESS

u14=[1*ones(size(t14)); 0*ones(size(t14))];

t15=[0:dT:1.5]; % NOISELESS

u15=[0*ones(size(t15)); 0.98*ones(size(t15))];

t16=[0:dT:3.5]; % NOISELESS

u16=[1*ones(size(t16)); 0*ones(size(t16))];

t17=[0:dT:1.2]; % NOISELESS

u17=[0*ones(size(t17)); -0.94*ones(size(t17))];

t18=[0:dT:24]; % NOISELESS

u18=[1*ones(size(t18)); 1/8.2*ones(size(t18))];

t19=[0:dT:1.59]; % NOISELESS

u19=[0*ones(size(t19)); 1.01*ones(size(t19))];

t20=[0:dT:7.9]; % NOISELESS

u20=[1*ones(size(t20)); 0*ones(size(t20))];

u=[u1 u2 u3 u4 u5 u6 u7 u8 u9 u10 u11 u12 u13 u14 u15 u16 u17 u18 u19 u20]; % concatenate all controls into one

for t=1:2

v=u(1,t);

if u(2,t)~=0

w=u(2,t);

else

w=100*eps; % 100*eps because eps alone is too small, so causes division by zero problem

end

x=x-v/w*sin(th)+v/w*sin(th+w*dT);%state update

y=y+v/w*cos(th)-v/w*cos(th+w*dT);%state update

th=th+w*dT;%state update

subplot(1,2,1);

mesh(xm,ym,m); axis image; view(0, 90); hold on; xlabel('x'); ylabel('y');

plot(x,y,'ro','MarkerSize',10,'LineWidth',2); % DRAWS ROBOTs CIRCLE

plot([x; 1*r*cos(th)+x], [y; 1*r*sin(th)+y],'k-','LineWidth',2); % DRAWS BEARING

axis(16*[-1 1 -1 1]); drawnow; hold off;

%%%My measurement code

for k=0:n-1

th=th+2*pi*k/n;

xo=xo+r*cos(th); %corridnates(x,y) for the robot location

xo=((xo+16)/0.05)+1; xo=ceil(xo);

yo=yo+r*sin(th); %r is length(r)

yo=((yo+16)/0.05)+1; yo=ceil(yo);

if m(xo,yo) ==0 %if the location is not occupied

r=rr+0.05;

elseif m(xo,yo) == 1 %if the location is occupied

for kk=1:size(m,1)

subplot(1,2,2);

plot(m(kk,1) ,'b.'); axis(16*[-1 1 -1 1]); hold on;

end

end

end

end

[DGM]

array 'm' is 641x641. You're trying to find m(3861,8679). There is no such element. You'll have to figure out why your calculations are asking for such indices. I imagine it's because you repeatedly multiply them by 20 every single time the loop iterates.

[Paul Hoffrichter]

Duplicate questions (as of 2021-04-27):

https://www.mathworks.com/matlabcentral/answers/806792-index-in-position-1-is-invalid-array-indices-must-be-positive-integers-or-logical-values?s_tid=prof_contriblnk

https://www.mathworks.com/matlabcentral/answers/805766-index-in-position-1-is-invalid-array-indices-must-be-positive-integers-or-logical-values?s_tid=prof_contriblnk

https://www.mathworks.com/matlabcentral/answers/813670-create-100-random-particles-all-the-same-size-in-an-empty-plot-with-dimensions-x-axis-from-16-to?s_tid=srchtitle

https://www.mathworks.com/matlabcentral/answers/809330-index-in-position-1-exceeds-array-bounds-must-not-exceed-641-error-in-measurements-line-117?s_tid=prof_contriblnk