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About the developer

robin-shaun
173 Stars 54 Forks 301 Commits 0 Opened issues

Description

UAV Simulation Platform based on PX4, ROS and Gazebo

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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)和无人车。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:

  1. 目标检测与追踪

  1. 双目SLAM

  1. RGBD-SLAM

  1. 2D激光SLAM

  1. 3D激光SLAM

  1. 视觉惯性导航

  1. 运动规划

  1. 多机协同

  1. 固定翼

  1. 复合翼

  1. 自动驾驶

教程

XTDrone使用文档

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,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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