function [t,x]=H4_PotentialNavigation()

clc

time=[0 300];

x0=[0;0;0];

[t x]=ode23(@vehicle,time,x0);

plot(x(:,1),x(:,2),'r',Goal(1),Goa1(2),'o',obs1(1),obs2(2),'x',obs2(1),obs2(2),'x')

axis([0 12 0 12])

function dx=vehicle (t,x)

Goal=[10;10];

obs1=[3;3];

obs2=[9;9];

KG=30;

KO=30;

rG=sqrt((Goal(1)-x(1))^2+(Goal(2)-x(2))^2);

Fgx=KG*(Goal(1)-x(1))/rG;

Fgy=KG*(Goal(2)-x(2))/rG;

robs1=sqrt((obs1(1)-x(1))^2+(obs1(2)-x(2))^2);

Fobs1x=-Ko*(obs1(1)-x(1))/robs1^3;

Fobs1y=-Ko*(obs1(2)-x(2))/robs1^3;

robs2=sqrt((obs2(1)-x(1))^2+(obs2(2)-x(2))^2);

Fobs2x=-Ko*(obs2(1)-x(1))/robs2^3;

Fobs2y=-Ko*(obs2(2)-x(2))/robs2^3;

Fx=(FGx+Fobs1x+Fobs2x);

Fy=(FGy+Fobs1y+Fobs2y);

alpha=atan(Fy/Fx);

v=1; L=2;

if rG<0.05

v=0;

end

K=2;

ph=K*(alpha-x(3));

dx= [v*cos(ph)*cos(x(3));v*cos(ph)*sin(x(3));v*sin(ph)/L];

end

end

this is a matlab code

I have errors in this code could you please fix it i want to see the plot