2020-03-23 16:09:44 +08:00
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# 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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2020-09-25 20:58:16 +08:00
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### 介绍
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2020-09-19 13:13:54 +08:00
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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。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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2020-03-23 16:09:44 +08:00
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2020-05-15 11:27:11 +08:00
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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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2020-05-21 23:58:56 +08:00
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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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2020-05-21 23:58:56 +08:00
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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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2020-05-21 23:58:56 +08:00
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5. 3D激光SLAM
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2020-05-21 23:58:56 +08:00
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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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2020-05-21 23:58:56 +08:00
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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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2020-05-21 23:58:56 +08:00
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8. 多机协同
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2020-05-24 16:35:17 +08:00
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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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2020-07-22 14:41:04 +08:00
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9. 固定翼
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2020-07-21 20:55:10 +08:00
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<img src="./image/planes.gif" width="640" height="368" />
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2020-07-22 14:41:04 +08:00
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10. VTOL
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<img src="./image/vtols.gif" width="640" height="368" />
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2020-07-22 14:41:04 +08:00
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11. 自动驾驶
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<img src="./image/self_driving.gif" width="640" height="368" />
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2020-09-25 20:58:16 +08:00
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### 教程
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2020-03-23 16:09:44 +08:00
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见[XTDrone使用文档](https://www.yuque.com/xtdrone/manual_cn)
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2020-09-25 20:58:16 +08:00
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### 空中机器人大赛
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2020中国机器人大赛暨RoboCup机器人世界杯中国赛中国机器人大赛正在报名中,详细可参见[大赛官网](http://crc.drct-caa.org.cn/index.php/),XTDrone作为无人机仿真组的仿真平台,将第一次正式登上舞台,详细比赛规则可参见[附件](http://crc.drct-caa.org.cn/index.php/)。
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### 项目团队
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2020-04-17 20:24:34 +08:00
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- 创立者:肖昆,谭劭昌
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2020-10-20 22:20:26 +08:00
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- 指导老师:王祥科
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2020-09-19 13:13:54 +08:00
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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,陈皋
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2020-04-17 20:24:34 +08:00
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2020-09-25 20:58:16 +08:00
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### 感谢贡献者们
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2020-04-17 20:24:34 +08:00
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2020-09-25 20:58:16 +08:00
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孙长浩 何瑶
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