diff --git a/README.en.md b/README.en.md index 308aeb0..ad480f0 100644 --- a/README.en.md +++ b/README.en.md @@ -4,73 +4,73 @@ #### Description -XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and rovers. It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform. +XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and other unmanned equipment (such as UGVs, USVs and robotic arms). It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform. - + Architecture for single vehicle simulation is shown as the below figure. For more details, see the paper 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) - + Architecture for multiple vehicle simulation is shown as the below figure. For more details, see the paper 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) - + Developers can quickly verify algorithms with XTDrone, such as: 1. Object Detection and Tracking - + 2. Stereo SLAM - + 3. RGBD-SLAM - + 4. 2D Laser SLAM - + 5. 3D Laser SLAM - + 6. VIO - + 7. Motion Planning - + 8. Formation - + - + 9. Fixed wing - + 10. VTOLs - + 11. UGV - + 12. USV - + #### User manual diff --git a/README.md b/README.md index 2389895..270f56d 100644 --- a/README.md +++ b/README.md @@ -3,74 +3,74 @@ ### 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。 +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](https://arxiv.org/abs/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](https://arxiv.org/abs/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 - + 2. 双目SLAM - + 3. RGBD-SLAM - + 4. 2D激光SLAM - + 5. 3D激光SLAM - + 6. 视觉惯性导航 - + 7. 运动规划 - + 8. 多机协同 - + - + 9. 固定翼 - + 10. 复合翼 - + 11. 无人车 - + 12. 无人船 - + ### 教程 diff --git a/image/architecture_1.png b/images/architecture_1.png similarity index 100% rename from image/architecture_1.png rename to images/architecture_1.png diff --git a/images/architecture_1_cn.png b/images/architecture_1_cn.png new file mode 100755 index 0000000..8b43630 Binary files /dev/null and b/images/architecture_1_cn.png differ diff --git a/image/architecture_2.png b/images/architecture_2.png similarity index 100% rename from image/architecture_2.png rename to images/architecture_2.png diff --git a/images/architecture_2_cn.png b/images/architecture_2_cn.png new file mode 100755 index 0000000..0ce68d2 Binary files /dev/null and b/images/architecture_2_cn.png differ diff --git a/image/formation_1.gif b/images/formation_1.gif similarity index 100% rename from image/formation_1.gif rename to images/formation_1.gif diff --git a/image/formation_2.gif b/images/formation_2.gif similarity index 100% rename from image/formation_2.gif rename to images/formation_2.gif diff --git a/image/human_tracking.gif b/images/human_tracking.gif similarity index 100% rename from image/human_tracking.gif rename to images/human_tracking.gif diff --git a/image/laser_slam_2d.gif b/images/laser_slam_2d.gif similarity index 100% rename from image/laser_slam_2d.gif rename to images/laser_slam_2d.gif diff --git a/image/laser_slam_3d.gif b/images/laser_slam_3d.gif similarity index 100% rename from image/laser_slam_3d.gif rename to images/laser_slam_3d.gif diff --git a/image/motion_planning.gif b/images/motion_planning.gif similarity index 100% rename from image/motion_planning.gif rename to images/motion_planning.gif diff --git a/image/planes.gif b/images/planes.gif similarity index 100% rename from image/planes.gif rename to images/planes.gif diff --git a/image/rgbdslam.gif b/images/rgbdslam.gif similarity index 100% rename from image/rgbdslam.gif rename to images/rgbdslam.gif diff --git a/image/ugv.gif b/images/ugv.gif similarity index 100% rename from image/ugv.gif rename to images/ugv.gif diff --git a/image/usv.gif b/images/usv.gif similarity index 100% rename from image/usv.gif rename to images/usv.gif diff --git a/image/vehicles.png b/images/vehicles.png similarity index 100% rename from image/vehicles.png rename to images/vehicles.png diff --git a/image/vio.gif b/images/vio.gif similarity index 100% rename from image/vio.gif rename to images/vio.gif diff --git a/image/vslam.gif b/images/vslam.gif similarity index 100% rename from image/vslam.gif rename to images/vslam.gif diff --git a/image/vtols.gif b/images/vtols.gif similarity index 100% rename from image/vtols.gif rename to images/vtols.gif