robin-shaun / Xtdrone
Licence: mit
UAV Simulation Platform based on PX4, ROS and Gazebo
Stars: ✭ 185
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XTDrone
介绍
XTDrone是基于PX4、ROS与Gazebo的无人机仿真平台。支持多旋翼飞行器（包含四轴和六轴）、固定翼飞行器、复合翼飞行器（包含quadplane，tailsitter和tiltrotor）与其他无人装备（如无人车、无人船与机械臂）。在XTDrone上验证过的算法，可以方便地部署到真实无人机上。
单机仿真架构如下图所示，详见论文
Xiao, K., Tan, S., Wang, G., An, X., Wang, X., Wang, X.: XTDrone: A Customizable Multi-rotor UAVs Simulation Platform. arXiv preprint arXiv:2003.09700 (2020)
多机仿真架构如下图所示，详见论文
Xiao, K., Ma, L., Tan, S., Cong, Y., Wang, X.: Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform. arXiv preprint arXiv:2005.01125 (2020)
在这个平台上，开发者可以快速验证算法。如：
- 目标检测与追踪
- 双目SLAM
- RGBD-SLAM
- 2D激光SLAM
- 3D激光SLAM
- 视觉惯性导航
- 运动规划
- 多机协同
- 固定翼
- 复合翼
- 无人车
- 无人船
教程
项目团队
- 创立者：肖昆，谭劭昌
- 指导老师：王祥科
- 开发团队：肖昆，谭劭昌，王冠政，马澜，王齐鹏，管若乔，胡新雨，陈科研，陈皋
加入我们
欢迎广大无人机开发者们加入我们的团队，共同学习进步。如有意向，请把简历（包含对PX4 ROS与Gazebo的掌握情况）发到[email protected]，让我们一起完善XTDrone仿真平台。
感谢贡献者们
孙长浩 林梓涵 何瑶
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