forked from xtdrone/XTDrone
76 lines
2.2 KiB
Markdown
76 lines
2.2 KiB
Markdown
# XTDrone
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<div id="sidebar"><a href="./README.en.md" target="_blank"><font color=#0000FF size=5px >[ENGLISH]<font></center><a></div>
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#### 介绍
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这是基于PX4和ROS的无人机仿真平台(目前模拟器使用Gazebo，与Airsim的连接正在开发中)。目前支持多旋翼飞行器（包含四轴和六轴）、固定翼飞行器、可垂直起降固定翼飞行器（包含quadplane，tailsitter和tiltrotor）和无人车。
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<img src="./image/vehicles.png" width="640" />
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单机仿真架构如下图所示，详见论文
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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](https://arxiv.org/abs/2003.09700)** (2020)
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<img src="./image/architecture1.png" width="640" height="480" />
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多机仿真架构如下图所示，详见论文
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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](https://arxiv.org/abs/2005.01125)** (2020)
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<img src="./image/architecture2.png" width="640" />
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在这个平台上，开发者可以快速验证算法。如：
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1. 目标检测与追踪
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<img src="./image/human_tracking.gif" width="640" height="368" />
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2. 双目SLAM
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<img src="./image/vslam.gif" width="640" height="368" />
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3. RGBD-SLAM
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<img src="./image/rgbdslam.gif" width="640" height="368" />
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4. 2D激光SLAM
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<img src="./image/laser_slam_2d.gif" width="640" height="368" />
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5. 3D激光SLAM
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<img src="./image/laser_slam_3d.gif" width="640" height="368"/>
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6. 视觉惯性导航
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<img src="./image/vio.gif" width="640" height="368" />
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7. 运动规划
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<img src="./image/motion_planning.gif" width="640" height="368" />
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8. 多机协同
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<img src="./image/formation_1.gif" width="640" height="368" />
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<img src="./image/formation_2.gif" width="640" height="368" />
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9. 自动驾驶
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<img src="./image/self_driving.gif" width="640" height="368" />
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#### 教程
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见[XTDrone使用文档](https://www.yuque.com/xtdrone/manual_cn)
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#### 项目团队
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- 创立者：肖昆，谭劭昌
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- 开发团队：肖昆，谭劭昌，王冠政，马澜，王齐鹏，管若乔，陈科研
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#### 感谢贡献者们
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孙长浩
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何瑶
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