3.4 KiB
XTDrone
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 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, please see the paper
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.
ArXiv preprint arXiv:2003.09700 (2020)
Architecture for multiple vehicle simulation is shown as the below figure. For more details, please see the paper
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 (2020)
If you use XTDrone for your academic research, please cite our related papers.
Developers can quickly verify algorithms with XTDrone, such as:
Stereo SLAM
Visual Inertial Navigation
Visual Dense Reconstruction
2D Laser SLAM
3D Laser SLAM
2D Motion Planning
3D Motion Planning
Object Detection and Tracking
Formation
Multi-UAV Precision Landing
Fixed wing
VTOL
UGV
USV
User manual
Developing Team
- Founders: Kun Xiao, Shaochang Tan
- Adviser: Xiangke Wang
- Developers: Kun Xiao, Shaochang Tan, Guanzheng Wang, Lan Ma, Qipeng Wang, Xinyu Hu, Ruoqiao Guan, Wenxin Hu, Feng Yi, Jiarun Yan, Yi Bao, Keyan Chen, Gao Chen
Contributers
Sincerely thank you for your contribution to XTDrone.
Changhao Sun, Ying Nie, Fanjie Kong, Chaoran Li, Xudong Li, Zihan Lin, Yao He
Business cooperation
For commercial inquiries, please contact Kun Xiao robin_shaun@foxmail.com.