matlab的pure_pursuit纯跟踪算法实现（matlab2018及以上版本直接新建函数 全代码）

%global  k1,Lfc,Kp,dt,L;
%k1=0.1  ;%前视距离系数
%Lfc=2.0 ; %前视距离
%Kp=1.0  ; %速度P控制器系数
%dt=0.1  ; % 时间间隔，单位：s
%L=2.9   ;% 车辆轴距，单位：m
function [] =main1()
dt=0.1;
cx=0:1:50;
cy=arrayfun(@(x)cos(x/5.0)*x/2.0,cx);%sin(x/5.0)*x/2.0
target_speed = 10.0 / 3.6;%[m/s]
T = 100.0;% 最大模拟时间
%设置车辆的初始状态
state=struct('x',-0.0,'y',-3.0,'yaw',0.0,'v',0.0);%结构体表示当前状态的值
lastIndex = length(cx) - 1;
time = 0.0;
 x = [state.x];
 y = [state.y];
 yaw = [state.yaw];
 v = [state.v];
 t = [0.0];
  target_ind = calc_target_index(state, cx, cy);
while T >= time && lastIndex > target_ind
        ai = PControl(target_speed, state.v);
        [di, target_ind] = pure_pursuit_control(state, cx, cy, target_ind);
        state = update1(state, ai, di);

        time = time + dt;
        x=[x state.x]
        y=[y state.y]
        yaw=[yaw state.yaw]