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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2021-03-01 10:52:26 +08:00
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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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2020-03-23 16:09:44 +08:00
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2021-03-01 10:52:26 +08:00
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<img src="./images/vehicles.png" width="640" />
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2020-05-15 11:27:11 +08:00
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单机仿真架构如下图所示,详见论文
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2021-02-24 11:10:08 +08:00
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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="./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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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="./images/architecture_2_cn.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="./images/human_tracking.gif" width="640" height="360" />
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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="./images/vslam.gif" width="640" height="360" />
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3. RGBD-SLAM
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<img src="./images/rgbdslam.gif" width="640" height="360" />
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4. 2D激光SLAM
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<img src="./images/laser_slam_2d.gif" width="640" height="360" />
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5. 3D激光SLAM
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<img src="./images/laser_slam_3d.gif" width="640" height="360"/>
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6. 视觉惯性导航
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<img src="./images/vio.gif" width="640" height="360" />
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7. 运动规划
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<img src="./images/motion_planning.gif" width="640" height="360" />
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8. 多机协同
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<img src="./images/formation_1.gif" width="640" height="360" />
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2020-05-24 16:35:17 +08:00
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<img src="./images/formation_2.gif" width="640" height="360" />
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2020-07-22 14:41:04 +08:00
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9. 固定翼
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<img src="./images/planes.gif" width="640" height="360" />
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2020-12-15 00:07:07 +08:00
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10. 复合翼
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<img src="./images/vtols.gif" width="640" height="360" />
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11. 无人车
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<img src="./images/ugv.gif" width="640" height="360" />
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12. 无人船
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<img src="./images/usv.gif" width="640" height="360" />
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2020-05-15 11:27:11 +08:00
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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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### 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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2021-03-22 19:21:55 +08:00
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- 开发团队:肖昆,谭劭昌,王冠政,马澜,王齐鹏,胡新雨,胡文信,鲍毅,管若乔,陈科研,陈皋
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2020-04-17 20:24:34 +08:00
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2021-02-02 20:05:13 +08:00
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### 加入我们
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2021-02-02 20:07:21 +08:00
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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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2021-02-02 20:05:13 +08:00
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2021-03-22 19:21:55 +08:00
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### 贡献者
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2021-03-22 19:21:55 +08:00
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非常感谢你们为XTDrone的贡献
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孙长浩 林梓涵 何瑶
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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="./images/donation.png" 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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2021-03-22 19:33:15 +08:00
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高多多
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