multi_vehicle.md

Multiple Vehicles in AirSim

Since release 1.2, AirSim is fully enabled for multiple vehicles. This capability allows you to create multiple vehicles easily and use APIs to control them.

Creating Multiple Vehicles

It's as easy as specifying them in settings.json. The Vehicles element allows you to specify list of vehicles you want to create along with their initial positions and orientations. The positions are specified in NED coordinates in SI units with origin set at Player Start component in Unreal environment. The orientation is specified as Yaw, Pitch and Roll in degrees.

Creating Multiple Cars

{
	"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
		}
  }
}

Creating Multiple Drones

{
	"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
		}

    }
}

Using APIs for Multiple Vehicles

The new APIs since AirSim 1.2 allows you to specify vehicle_name. This name corresponds to keys in json settings (for example, Car1 or Drone2 above).

Example code for cars

Example code for multirotors

Demo