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# XTDrone
< 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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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。
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< img src = "./images/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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K. Xiao, S. Tan, G. Wang, X. An, X. Wang and X. Wang, "XTDrone: A Customizable Multi-rotor UAVs Simulation Platform," 2020 4th International Conference on Robotics and Automation Sciences (ICRAS), 2020, pp. 55-61, doi: 10.1109/ICRAS49812.2020.9134922.
预印版 ** [ arXiv:2003.09700 ](https://arxiv.org/abs/2003.09700 )**
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< img src = "./images/architecture_1_cn.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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K. Xiao, L. Ma, S. Tan, Y. Cong, X. Wang: 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 = "./images/architecture_2_cn.png" width = "640" / >
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如果使用XTDrone用于学术论文的仿真验证, 请引用上述的其中一篇论文。
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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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双目SLAM
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< img src = "./images/vslam.gif" width = "640" height = "360" / >
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视觉惯性导航
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< img src = "./images/vio.gif" width = "640" height = "360" / >
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视觉稠密重建
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< img src = "./images/dense_reconstruction.gif" width = "640" height = "360" / >
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2D激光SLAM
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< img src = "./images/laser_slam_2d.gif" width = "640" height = "360" / >
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3D激光SLAM
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< img src = "./images/laser_slam_3d.gif" width = "640" height = "360" / >
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2D运动规划
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< img src = "./images/2d_motion_planning.gif" width = "640" height = "360" / >
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3D运动规划
< img src = "./images/3d_motion_planning.gif" width = "640" height = "360" / >
目标检测与追踪
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< img src = "./images/human_tracking.gif" width = "640" height = "360" / >
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多机编队
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< img src = "./images/formation_1.gif" width = "640" height = "360" / >
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< img src = "./images/formation_2.gif" width = "640" height = "360" / >
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多机精准降落
< img src = "./images/multi_precision_landing.gif" width = "640" height = "360" / >
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固定翼
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< img src = "./images/planes.gif" width = "640" height = "360" / >
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复合翼
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< img src = "./images/vtols.gif" width = "640" height = "360" / >
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无人车
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< img src = "./images/ugv.gif" width = "640" height = "360" / >
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无人船
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< img src = "./images/usv.gif" width = "640" height = "360" / >
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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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- 指导老师:王祥科
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- 开发团队:肖昆,谭劭昌,王冠政,马澜,王齐鹏,胡新雨,管若乔,胡文信,易丰,颜佳润,鲍毅,陈科研,陈皋
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### 加入我们
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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robin_shaun@foxmail.com, 让我们一起完善XTDrone仿真平台。
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### 贡献者
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非常感谢你们为XTDrone的贡献
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孙长浩,聂莹,孔凡杰,李超然,李旭东,林梓涵,何瑶
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### 中国机器人大赛无人机挑战赛仿真组
2021年中国机器人大赛将于10月在青岛举办, 比赛详情见http://robocup.drct-caa.org.cn/index.php/race/view?id=787, 其中无人机挑战赛仿真组的平台使用XTDrone, 欢迎大家积极报名, 展示自己的风采。
### 商业合作
如果想与XTDrone团队建立商业合作, 请联系肖昆< robin_shaun @ foxmail . com > 。
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### 捐赠
如果您觉得XTDrone对您有帮助, 可以给XTDrone团队捐赠, 如果您愿意, 可以备注上姓名或个人主页, 我们将把您添加到赞助人名单中。
< img src = "./images/donation.png" width = "640" height = "360" / >
### 赞助人
非常感谢你们对XTDrone团队的支持
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高多多 张宇翔 李照祥