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本書系統介紹如何利用CoppeliaSim機器人仿真軟件，快速搭建高逼真無人機數字孿生系統，完成從感知、規劃、控制到集群協同的全鏈路仿真驗證。全書以"場景—算法—實現—驗證”為主線，涵蓋軟件基礎、場景建模、API調用、動力學仿真、二次開發及單機/多機實戰案例，並提供Python、C++、Lua多語言代碼庫。本書註重工程實踐與科研轉化，以案例驅動教學，幫助讀者掌握無人系統仿真的核心方法。本書適合無人機、自動化、計算機等相關專業的高年級本科生、研究生，以及從事低空經濟、機器人研發的工程技術人員和科研人員參考學習。
目錄大綱
目 錄
第 1 章 軟件安裝與用戶界面 ··························································································1
1.1 頁面和視圖·····································································································1
1.1.1 軟件安裝·······························································································1
1.1.2 主界面布局····························································································5
1.1.3 頁面和視圖····························································································9
1.2 位置/方向操縱 ······························································································.11
1.2.1 位置對話框·························································································.11
1.2.2 方向對話框·························································································.13
1.2.3 使用鼠標移動對象················································································.15
1.3 位置/方向操作 ······························································································.15
1.3.1 歐拉角·······························································································.15
1.3.2 四元數·······························································································.16
1.3.3 旋轉矩陣····························································································.16
1.3.4 變換矩陣····························································································.17
1.3.5 姿態··································································································.17
1.4 用戶設置·····································································································.18
第 2 章 場景和模型 ···································································································.20
2.1 場景···········································································································.20
2.1.1 場景介紹····························································································.20
2.1.2 場景的維護·························································································.21
2.1.3 場景查看操作······················································································.22
2.2 場景對象·····································································································.23
2.2.1 對象特性對話框···················································································.23
2.2.2 對象的特性·························································································.23
2.2.3 對象的移動·························································································.26
2.2.4 對象的層級關系···················································································.31
2.2.5 對象的類型·························································································.33
2.3 模型···········································································································.39
2.3.1 建立模型····························································································.39
2.3.2 模型對話框·························································································.40
2.4 環境···········································································································.41
2.4.1 環境對話框·························································································.42
2.4.2 顏色設置····························································································.43
基於 CoppeliaSim 的無人機仿真開發與案例分析
2.4.3 霧化設置····························································································.43
2.5 紋理對話框··································································································.44
第 3 章 對象實體構建 ································································································.47
3.1 對象基礎與交互 ····························································································.47
3.1.1 對象特性····························································································.47
3.1.2 對象選擇對話框···················································································.50
3.1.3 圖層選擇對話框···················································································.51
3.2 物理與檢測對象 ····························································································.52
3.2.1 可碰撞對象·························································································.52
3.2.2 可測量對象·························································································.52
3.2.3 可檢測對象·························································································.53
3.3 視覺與渲染對象 ····························································································.53
3.3.1 可渲染對象·························································································.53
3.3.2 可視對象····························································································.53
3.3.3 凸殼··································································································.54
3.4 場景元素與形狀 ····························································································.54
3.4.1 攝像機·······························································································.54
3.4.2 燈光··································································································.57
3.4.3 形狀··································································································.59
3.5 運動與虛擬對象 ····························································································.81
3.5.1 關節··································································································.81
3.5.2 虛擬對象····························································································.85
3.6 數據與傳感器對象 ·························································································.87
3.6.1 圖表··································································································.87
3.6.2 接近傳感器·························································································.88
3.6.3 視覺傳感器·························································································.91
3.6.4 力傳感器····························································································.94
3.7 集合···········································································································.95
第 4 章 計算模塊 ······································································································.98
4.1 計算模塊屬性對話框 ······················································································.98
4.2 碰撞檢測·····································································································.99
4.3 距離計算·····································································································100
4.4 逆運動學（IK）····························································································101
4.4.1 IK 組與 IK 元素的基礎知識 ····································································102
4.4.2 解決 IK 和 FK 的任何類型的機制 ·····························································104
4.4.3 逆運動學對話框···················································································106
4.5 動力學········································································································109
4.5.1 設計動態仿真······················································································110
4.5.2 一般動力學特性···················································································116
第 5 章 二次開發基本函數 ··························································································118
5.1 嵌入式腳本··································································································118
5.1.1 仿真腳本····························································································118
5.1.2 回調函數····························································································130
5.1.3 腳本對話框·························································································142
5.1.4 腳本執行順序······················································································143
5.1.5 腳本編輯器·························································································144
5.1.6 用戶參數設置······················································································145
5.2 插件（Plugins）····························································································147
5.3 附加組件（Add-ons）·····················································································149
5.4 沙盒腳本（Sandbox Script） ············································································151
5.5 主客戶端應用程序 ·························································································151
5.5.1 主客戶端概述······················································································151
5.5.2 主客戶端功能模塊················································································152
5.5.3 主客戶端啟動流程················································································154
5.6 通信方式·····································································································155
5.6.1 進程間通信（IPC） ··············································································155
5.6.2 數據交換格式······················································································156
5.7 以編程方式訪問對象 ······················································································156
5.7.1 獲取訪問對象句柄················································································156
5.7.2 對象屬性讀寫······················································································157
5.7.3 對象關系管理······················································································158
5.8 CoppeliaSim API 框架·····················································································160
5.8.1 常規 API ····························································································160
5.8.2 遠程 API ····························································································161
5.8.3 其他 API ····························································································171
第 6 章 單無人機自主飛行仿真實驗 ··············································································172
6.1 仿真場景建模過程 ·························································································172
6.1.1 室內實驗環境構建················································································172
6.1.2 起降點與航點的布置·············································································174
6.1.3 導入無人機模型···················································································176
6.2 單無人機任務邏輯與腳本編程 ··········································································177
6.2.1 飛行任務邏輯設計················································································177
6.2.2 位移控制算法設計················································································178
6.2.3 主控制腳本實現···················································································180
6.3 仿真實驗過程與結果展示 ················································································182
基於 CoppeliaSim 的無人機仿真開發與案例分析
第 7 章 多人機協作仿真實驗 ·······················································································184
7.1 無人機協同仿真的必要性 ················································································184
7.2 多無人機編隊避障 ·························································································184
7.2.1 搭建有障礙的場景················································································184
7.2.2 創建飛行的路徑···················································································190
7.2.3 添加四旋翼無人機················································································192
7.3 多無人機編隊飛行 ·························································································206
7.3.1 CoppeliaSim 和 Python 通信 ····································································207
7.3.2 載入無人機隊伍···················································································209
7.3.3 添加 Python 腳本··················································································210
參考文獻 ··················································································································220
