模拟可变长悬垂缆绳连接无人机与无人车的动态行为，验证了仿真与实测高度一致。
Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether
- 基于可调长悬垂缆绳建模，融合飞/车与绞盘的交互动力学。
- 仿真结果与真实实验对比吻合，尤其在受限环境中缆绳影响显著。
- 适合研究系绳机器人运动控制与系统设计的科研人员使用。
本文提出一种能够模拟可调长度悬垂缆绳连接无人机（UAV）与无人车（UGV）的动力学仿真框架。模型综合考虑了无人机、无人车与绞盘之间的相互作用，支持根据两机器人相对运动动态调节缆绳长度。通过大量实验评估仿真器的准确性和可靠性，包括与真实实验的对比，以检验其再现实际部署中复杂缆绳动力学的能力。结果表明，该仿真在受限环境中与真实行为高度一致，尤其在缆绳效应显著时表现优异。本工作提供了一个经过验证的工具，可用于研究系绳机器人的运动动力学和控制策略。
原文摘要 · Abstract (English)
This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic tether adjustments based on the relative motion of the robots. The accuracy and reliability of the simulator are assessed through extensive experiments, including comparisons with real-world experiment, to evaluate its ability to reproduce the complex tether dynamics observed in physical deployments. The results demonstrate that the simulation closely aligns with real-world behavior, particularly in constrained environments where tether effects are significant. This work provides a validated tool for studying tethered robotic systems, offering valuable insights into their motion dynamics and control strategies.
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