function Th1=Object_fun(Th_th)
Th1=Th_th*Th_th';
end
function check(th)
v=800;
Location1={[150;140],[85;85],[150;155],[145;50],[130;150],[0;0]};
Location2={[0;0],[160;0],[160;160],[0;160]};
t=fun1_t(Location1,Location2,v);
k=1;
for i=1:5
for j=i+1:6
for t1=0:t/30:t
c(k)=(Location1{i}(1,1)+v*cosd(th(i))*t1-(Location1{j}(1,1)+v*cosd(th(j))*t1))^2+...
(Location1{i}(2,1)+v*sind(th(i))*t1-(Location1{j}(2,1)+v*sind(th(j))*t1))^2 -64;
k=k+1;
end
end
end
end
Tr_th=zeros(1,6);
lb=-30*ones(1,6);
ub=30*ones(1,6);
[x,fval,exitflag,output]=fmincon('Object_fun',...
Tr_th,[],[],[],[],lb,ub,'nonlcon');
disp(exitflag);
disp(output);
for i=1:6
fprintf('第%d 架飞机的调整角度为%f \n',i,x(i));
end
angle_T=[243 236 220.5 159 230 52];
tatal1=x+angle_T;
check(tatal1);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%
Local minimum found that satisfies the constraints.
Optimization completed because the objective function is non-decreasing in
feasible directions, to within the default value of the optimality tolerance,
and constraints are satisfied to within the default value of the constraint tolerance.
