視頻效果地址：CoppliaSim控制無人車和無人機實現編隊控制

function sysCall_init()corout=coroutine.create(coroutineMain) endfunction sysCall_actuation()if coroutine.status(corout)~='dead' thenlocal ok,errorMsg=coroutine.resume(corout)if errorMsg thenerror(debug.traceback(corout,errorMsg),2)endend endfunction setMovement(forwBackVel,leftRightVel,rotVel)-- Apply the desired wheel velocities:sim.setJointTargetVelocity(wheelJoints[1],-forwBackVel-leftRightVel-rotVel)sim.setJointTargetVelocity(wheelJoints[2],-forwBackVel+leftRightVel-rotVel)sim.setJointTargetVelocity(wheelJoints[3],-forwBackVel-leftRightVel+rotVel)sim.setJointTargetVelocity(wheelJoints[4],-forwBackVel+leftRightVel+rotVel) endfunction coroutineMain()--Prepare initial values and retrieve handles:wheelJoints={-1,-1,-1,-1} -- front left, rear left, rear right, front rightwheelJoints[1]=sim.getObjectHandle('rollingJoint_fl')wheelJoints[2]=sim.getObjectHandle('rollingJoint_rl')wheelJoints[3]=sim.getObjectHandle('rollingJoint_rr')wheelJoints[4]=sim.getObjectHandle('rollingJoint_fr')armJoints={}for i=0,4,1 doarmJoints[i+1]=sim.getObjectHandle('youBotArmJoint'..i)endsetMovement(0,0.5,0)sim.wait(10)setMovement(0,-0.5,0) endfunction sysCall_cleanup() end

Ref: simGetObjectPosition / sim.getObjectPosition-Regular API function
Ref: CoppeliaSim User Manual
Ref: [連載 0]Vrep入門介紹
Ref: Lua 教程-菜鳥教程

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