从 release 1.2 开始, AirSim 完全能够支持多载具. 这能允许你更简单的创建多个载具并用 APIs 来控制它们.

创建多个载具 Creating Multiple Vehicles

在 settings.json 可以很简单地对它们设定. Vehicles 元素允许你指定你想创建地载具列表, 包括初始位置和方向.位置是基于 SI 单位下的原点位于 Unreal 环境下玩家出生点的 NED 坐标系.方向基于角度制的偏航、俯仰和翻转.

创建多辆汽车 Creating Multiple Cars

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{
  "SettingsVersion": 1.2,
  "SimMode": "Car",

  "Vehicles": {
    "Car1": {
      "VehicleType": "PhysXCar",
      "X": 4,
      "Y": 0,
      "Z": -2
    },
    "Car2": {
      "VehicleType": "PhysXCar",
      "X": -4,
      "Y": 0,
      "Z": -2,
      "Yaw": 90
    }
  }
}

创建多个飞行器 Creating Multiple Drones

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{
  "SettingsVersion": 1.2,
  "SimMode": "Multirotor",

  "Vehicles": {
    "Drone1": {
      "VehicleType": "SimpleFlight",
      "X": 4,
      "Y": 0,
      "Z": -2,
      "Yaw": -180
    },
    "Drone2": {
      "VehicleType": "SimpleFlight",
      "X": 8,
      "Y": 0,
      "Z": -2
    }
  }
}

多载具的 APIs 使用 Using APIs for Multiple Vehicles

从 AirSim 1.2 以来的新 APIs 允许你指定 vehicle_name. 这个名称和 json settings 的键值对应 (举个例子, 上述的 Car1 或 Drone2 ).

Example code for cars

Example code for multirotors

PS: 这里提供一份 C++ 的实现

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using namespace msr::airlib;
msr::airlib::CarRpcLibClient client;

client.confirmConnection();
client.enableApiControl(true, "Car1");
client.enableApiControl(true, "Car2");

auto car_controls1 = client.getCarControls("Car1");
auto car_controls2 = client.getCarControls("Car2");

for (int i = 0; i < 3; ++i) {
  // get state of the car
  auto car_state1 = client.getCarState("Car1");
  std::cout << "Car1: Speed " << car_state1.speed << ", Gear " << car_state1.gear << std::endl;

  auto car_state2 = client.getCarState("Car2");
  std::cout << "Car1: Speed " << car_state2.speed << ", Gear " << car_state2.gear << std::endl;

  // go forward
  car_controls1.throttle = 0.5;
  car_controls2.throttle = 0.5;
  client.setCarControls(car_controls1, "Car1");
  std::cout << "Car1: Go Forward.\n";

  car_controls2.throttle = 0.5;
  car_controls2.steering = -0.5;
  client.setCarControls(car_controls2, "Car2");
  std::cout << "Car2: Go Forward.\n";

  std::this_thread::sleep_for(std::chrono::seconds(3));

  // apply breaks
  car_controls1.brake = 1;
  client.setCarControls(car_controls1, "Car1");
  std::cout << "Car1: Apply break\n";
  car_controls1.brake = 0;  // remove break

  car_controls2.brake = 1;
  client.setCarControls(car_controls2, "Car2");
  std::cout << "Car2: Apply break\n";
  car_controls2.brake = 0;  // remove break

  std::this_thread::sleep_for(std::chrono::seconds(3));  // let car drive a bit

  const std::vector<ImageCaptureBase::ImageResponse>& response1 =
      client.simGetImages({ImageCaptureBase::ImageRequest("0", ImageCaptureBase::ImageType::DepthVis),
                           ImageCaptureBase::ImageRequest("1", ImageCaptureBase::ImageType::Scene, false, false)},
                          "Car1");

  std::cout << "Car1: Retrieved images: " << response1.size() << std::endl;

  const std::vector<ImageCaptureBase::ImageResponse>& response2 =
      client.simGetImages({ImageCaptureBase::ImageRequest("0", ImageCaptureBase::ImageType::Segmentation),
                           ImageCaptureBase::ImageRequest("1", ImageCaptureBase::ImageType::Scene, false, false)},
                          "Car2");

  std::cout << "Car2: Retrieved images: " << response2.size() << std::endl;

  cv::Mat img_mat10 = cv::imdecode(response1.at(0).image_data_uint8, cv::IMREAD_GRAYSCALE);
  cv::imshow("cat1_multi:DepthVis", img_mat10);
  cv::waitKey(5);

  cv::Mat img_mat11(response1.at(1).height, response1.at(1).width, CV_8UC3,
                    (void*)response1.at(1).image_data_uint8.data());
  cv::imshow("cat1_multi:Scene", img_mat11);
  cv::waitKey(5);

  cv::Mat img_mat20 = cv::imdecode(response1.at(0).image_data_uint8, cv::IMREAD_UNCHANGED);
  cv::imshow("cat2_multi:DepthVis", img_mat10);
  cv::waitKey(5);

  cv::Mat img_mat21(response2.at(1).height, response2.at(1).width, CV_8UC3,
                    (void*)response2.at(1).image_data_uint8.data());
  cv::imshow("cat2_multi:Scene", img_mat21);
  cv::waitKey(5);
}

client.reset();
client.enableApiControl(false);
return 0;

Demo

AirSimMultiple Vehicles Demo Video