forked from xtdrone/XTDrone
129 lines
5.6 KiB
Markdown
129 lines
5.6 KiB
Markdown
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/logo.jpg?raw=true" width="256" />
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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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XTDrone是基于PX4、ROS与Gazebo的无人机通用仿真平台。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）与其他无人系统（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="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vehicles.png?raw=true" 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.
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预印版 **[ arXiv:2003.09700](https://arxiv.org/abs/2003.09700)**
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/architecture_1_cn.png?raw=true" 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="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/architecture_2_cn.png?raw=true" 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="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vslam.gif?raw=true" width="640" height="360" />
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视觉惯性导航
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vio.gif?raw=true" width="640" height="360" />
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视觉稠密重建
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/dense_reconstruction.gif?raw=true" width="640" height="360" />
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2D激光SLAM
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/laser_slam_2d.gif?raw=true" width="640" height="360" />
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3D激光SLAM
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/laser_slam_3d.gif?raw=true" width="640" height="360"/>
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2D运动规划
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/2d_motion_planning.gif?raw=true" width="640" height="360" />
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/2d_motion_planning_new.gif?raw=true" width="640" height="360" />
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3D运动规划
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/3d_motion_planning.gif?raw=true" width="640" height="360" />
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目标检测与追踪
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/human_tracking.gif?raw=true" width="640" height="360" />
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多机编队
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/formation_1.gif?raw=true" width="640" height="360" />
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/formation_2.gif?raw=true" width="640" height="360" />
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多机精准降落
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/multi_precision_landing.gif?raw=true" width="640" height="360" />
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固定翼
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/planes.gif?raw=true" width="640" height="360" />
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复合翼
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vtols.gif?raw=true" width="640" height="360" />
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无人车
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/ugv.gif?raw=true" width="640" height="360" />
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无人船
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/usv.gif?raw=true" 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
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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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陈科研，许江伟，卢永光，陈皋，孙长浩，聂莹，孔凡杰，李超然，李旭东，张华卿，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
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2021年中国机器人大赛将于11月在洛阳举办，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。
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### 商业合作
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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
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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。
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<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/donation.png?raw=true" width="640" height="360" />
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### 赞助人
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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
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