XTDrone无人机通用仿真平台

README

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/b9a2e91e66fa5e78ebf2299a.jpg" width="256"  />

<div id="sidebar"><a href="https://gitee.com/robin_shaun/XTDrone/blob/master/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。

目前适用于ROS2的XTDrone2已经推出：
- Github: https://github.com/andy-zhuo-02/XTDrone2
- Gitee: https://gitee.com/andy_zhuo/XTDrone2

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/bfa34d2fa60ad49e3a1cbcb4.jpg" width="640"  />

单机仿真架构如下图所示，详见论文

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. 

预印版 **[ arXiv:2003.09700](https://arxiv.org/abs/2003.09700)** 

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/1cd880f38b9ed7ab863f5e25.png" 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," Advances in Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, 2022, vol 644. Springer, Singapore. doi: 10.1007/978-981-15-8155-7_423

预印版 **[ arXiv:2005.01125](https://arxiv.org/abs/2005.01125)** (2020)

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/c78d6d92f4a37e829fc3da7d.png" 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。

在这个平台上，开发者可以快速验证算法。如：

双目SLAM

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/aa474433301aebbf72ac5943.gif" width="640" height="360" /> 

视觉惯性导航

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/be7ca2a4626add5e4100035c.gif" width="640" height="360" />  

视觉稠密重建

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/225b8010aa9ac184cb20a6e9.gif" width="640" height="360" /> 

2D激光SLAM

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/25297bb01d00ad4fe8014804.gif" width="640" height="360" /> 

3D激光SLAM

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/352a80cfb617272b2e277445.gif" width="640" height="360"/>  

2D运动规划

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/3fe2daa1f9935bd78bc5e9cb.gif" width="640" height="360" />  

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/baf5146b6cf82d778bfe262c.gif" width="640" height="360" />  

3D运动规划

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/48a1766da479b08712c8cdba.gif" width="640" height="360" />  

集群运动规划

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/ed559fbd6687a9b25643a2e3.gif" width="640" height="306" />  

目标检测与追踪

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/a6abcda3bcef6990b69e5ddb.gif" width="640" height="360" /> 

多机编队

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/f3c5a5962768e0b0acf775c6.gif" width="640" height="360" />  

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/ea2ffbf39af5e0c4d0a327f9.gif" width="640" height="360" />  

多机精准降落

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/f4bb0333dd2fc7b87cd40068.gif" width="640" height="360" />  

固定翼

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/c909b2e55f6648769de76460.gif" width="640" height="360" />  

复合翼

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/7f6e129502807be95a91cca7.gif" width="640" height="360" />  


无人车

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/b52f74dda2f3c796a3bd0409.gif" width="640" height="360" />  

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/e565fd313d6d4b06731a5f11.gif" width="640" height="398" /> 

无人船

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/f4fddfb946c642ba083d7711.gif" width="640" height="360" />  

空中机械臂

<img src="https://web-code-img.oss-cn-shanghai.aliyuncs.com/readme/f039a932845107d38e5bd761.gif" width="640" height="360" />  

### 教程

见[XTDrone使用文档](https://www.yuque.com/xtdrone/manual_cn)

### 项目团队

- 创立者：肖昆，谭劭昌
- 指导老师：王祥科
- 开发团队：肖昆，谭劭昌，卓安，王冠政，马澜，李玙珂，王齐鹏，胡新雨，吴欣宁，郑家驿，彭羽凡，郑子君，颜佳润，易丰，管若乔，胡文信，鲍毅，刘旭东，闵洁，刘传胪，阮慈棫，孔德浩

### 加入我们

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<zhuoan@stu.pku.edu.cn>，让我们一起完善XTDrone仿真平台。

### 贡献者

非常感谢你们为XTDrone的贡献

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 

### 中国机器人大赛无人机挑战赛仿真组

2024 中国机器人大赛已完成比赛，比赛详情见[官网](http://crc.drct-caa.org.cn/index.php)，其中无人机挑战赛仿真组的平台使用XTDrone。2025无人机仿真组将继续由XTDrone团队筹备，届时欢迎大家积极报名，展示自己的风采。

### 合作

如果想与XTDrone团队建立合作，请联系卓安<zhuoan@stu.pku.edu.cn>。