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superadmin eaf6e6cee3 Update README.md 2021-10-23 15:02:29 +08:00
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<img src="./images/logo.jpg" width="256" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/logo.jpg?raw=true" width="256" />
<div id="sidebar"><a href="./README.en.md" target="_blank"><font color=#0000FF size=5px >[ENGLISH]<font></center><a></div>
### 介绍
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。
<img src="./images/vehicles.png" width="640" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vehicles.png?raw=true" width="640" />
单机仿真架构如下图所示，详见论文
@ -13,13 +13,13 @@ K. Xiao, S. Tan, G. Wang, X. An, X. Wang and X. Wang, "XTDrone: A Customizable M
预印版 **[ arXiv:2003.09700](https://arxiv.org/abs/2003.09700)**
<img src="./images/architecture_1_cn.png" width="640" height="480" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/architecture_1_cn.png?raw=true" width="640" height="480" />
多机仿真架构如下图所示，详见论文
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)
<img src="./images/architecture_2_cn.png" width="640" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/architecture_2_cn.png?raw=true" width="640" />
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。
@ -27,64 +27,64 @@ K. Xiao, S. Tan, G. Wang, X. An, X. Wang and X. Wang, "XTDrone: A Customizable M
双目SLAM
<img src="./images/vslam.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vslam.gif?raw=true" width="640" height="360" />
视觉惯性导航
<img src="./images/vio.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vio.gif?raw=true" width="640" height="360" />
视觉稠密重建
<img src="./images/dense_reconstruction.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/dense_reconstruction.gif?raw=true" width="640" height="360" />
2D激光SLAM
<img src="./images/laser_slam_2d.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/laser_slam_2d.gif?raw=true" width="640" height="360" />
3D激光SLAM
<img src="./images/laser_slam_3d.gif" width="640" height="360"/>
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/laser_slam_3d.gif?raw=true" width="640" height="360"/>
2D运动规划
<img src="./images/2d_motion_planning.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/2d_motion_planning.gif?raw=true" width="640" height="360" />
<img src="./images/2d_motion_planning_new.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/2d_motion_planning_new.gif?raw=true" width="640" height="360" />
3D运动规划
<img src="./images/3d_motion_planning.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/3d_motion_planning.gif?raw=true" width="640" height="360" />
目标检测与追踪
<img src="./images/human_tracking.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/human_tracking.gif?raw=true" width="640" height="360" />
多机编队
<img src="./images/formation_1.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/formation_1.gif?raw=true" width="640" height="360" />
<img src="./images/formation_2.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/formation_2.gif?raw=true" width="640" height="360" />
多机精准降落
<img src="./images/multi_precision_landing.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/multi_precision_landing.gif?raw=true" width="640" height="360" />
固定翼
<img src="./images/planes.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/planes.gif?raw=true" width="640" height="360" />
复合翼
<img src="./images/vtols.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/vtols.gif?raw=true" width="640" height="360" />
无人车
<img src="./images/ugv.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/ugv.gif?raw=true" width="640" height="360" />
无人船
<img src="./images/usv.gif" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/usv.gif?raw=true" width="640" height="360" />
### 教程
@ -119,7 +119,7 @@ K. Xiao, S. Tan, G. Wang, X. An, X. Wang and X. Wang, "XTDrone: A Customizable M
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。
<img src="./images/donation.png" width="640" height="360" />
<img src="https://git.trustie.net/xtdrone/XTDrone/raw/branch/master/./images/donation.png?raw=true" width="640" height="360" />
### 赞助人