多个无人机的群飞行仿真代码
时间: 2023-08-03 11:08:39 浏览: 62
对于无人机的群飞行仿真代码,有多种实现方式,其中比较常见的是使用Python编程语言和开源的无人机仿真软件库(如ArduPilot、PX4等)进行开发。以下是一个简单的Python代码示例,可以实现多个无人机的群飞行仿真:
```python
import random
from dronekit import connect, VehicleMode, LocationGlobalRelative
# 连接无人机
vehicle1 = connect('tcp:127.0.0.1:5760', wait_ready=True)
vehicle2 = connect('tcp:127.0.0.1:5761', wait_ready=True)
vehicle3 = connect('tcp:127.0.0.1:5762', wait_ready=True)
# 设置无人机初始位置
initial_location = LocationGlobalRelative(-35.363262, 149.165237, 30)
vehicle1.home_location = initial_location
vehicle2.home_location = initial_location
vehicle3.home_location = initial_location
# 设置无人机航线
waypoint1 = LocationGlobalRelative(-35.362998, 149.165066, 30)
waypoint2 = LocationGlobalRelative(-35.362764, 149.165233, 30)
waypoint3 = LocationGlobalRelative(-35.362998, 149.165400, 30)
# 随机生成无人机的起飞位置
vehicle1_location = LocationGlobalRelative(-35.363262 + random.uniform(-0.0001, 0.0001), 149.165237 + random.uniform(-0.0001, 0.0001), 30)
vehicle2_location = LocationGlobalRelative(-35.363262 + random.uniform(-0.0001, 0.0001), 149.165237 + random.uniform(-0.0001, 0.0001), 30)
vehicle3_location = LocationGlobalRelative(-35.363262 + random.uniform(-0.0001, 0.0001), 149.165237 + random.uniform(-0.0001, 0.0001), 30)
# 启动无人机
vehicle1.simple_takeoff(10)
vehicle2.simple_takeoff(10)
vehicle3.simple_takeoff(10)
# 等待无人机到达指定高度
while True:
current_altitude1 = vehicle1.location.global_relative_frame.alt
current_altitude2 = vehicle2.location.global_relative_frame.alt
current_altitude3 = vehicle3.location.global_relative_frame.alt
if current_altitude1 >= 10 and current_altitude2 >= 10 and current_altitude3 >= 10:
break
# 设置无人机航点
vehicle1.simple_goto(waypoint1)
vehicle2.simple_goto(waypoint2)
vehicle3.simple_goto(waypoint3)
# 等待无人机到达航点
while True:
current_location1 = vehicle1.location.global_relative_frame
current_location2 = vehicle2.location.global_relative_frame
current_location3 = vehicle3.location.global_relative_frame
if current_location1.distance_to(waypoint1) <= 1 and current_location2.distance_to(waypoint2) <= 1 and current_location3.distance_to(waypoint3) <= 1:
break
# 返回无人机起飞位置
vehicle1.simple_goto(vehicle1.home_location)
vehicle2.simple_goto(vehicle2.home_location)
vehicle3.simple_goto(vehicle3.home_location)
# 等待无人机到达起飞位置
while True:
current_location1 = vehicle1.location.global_relative_frame
current_location2 = vehicle2.location.global_relative_frame
current_location3 = vehicle3.location.global_relative_frame
if current_location1.distance_to(vehicle1.home_location) <= 1 and current_location2.distance_to(vehicle2.home_location) <= 1 and current_location3.distance_to(vehicle3.home_location) <= 1:
break
# 关闭无人机连接
vehicle1.close()
vehicle2.close()
vehicle3.close()
```
在以上示例代码中,我们首先使用`dronekit`库连接了三个无人机,并设置了它们的初始位置和航线。然后,我们随机生成了三个无人机的起飞位置,并启动它们飞到指定高度。接着,我们让三个无人机分别飞向指定的航点,并等待它们到达航点后返回起飞位置。最后,我们关闭了无人机的连接。当然,这只是一个简单的示例,实际的无人机群飞行仿真代码还需要考虑更多因素,如避障、通信、任务分配等。