arXiv 2003.097002020-03cs.RO

XTDrone: A Customizable Multi-Rotor UAVs Simulation Platform

Beijing Institute of Aerospace Systems Engineering（北京航天系统工程研究所）；Flying College, Beihang University（北京航空航天大学飞行学院）；China Academy of Launch Vehicle Technology（中国运载火箭技术研究院）；College of Architecture and Urban Planning, Tongji University（同济大学建筑与城市规划学院）；College of Intelligence Science and Technology, National University of Defense Technology（国防科技大学智能科学学院）

Kun Xiao, Shaochang Tan, Guohui Wang, Xueyan An, Xiang Wang, Xiangke Wang

备注：: 8 pages, 15 figures.For the source code see https://github.com/robin-shaun/XTDrone

阅读 PDF

arXiv 页面 ↗HTML 原文 ↗

英文摘要：

A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes. The platform supports multi UAVs and other robots. The platform is modular and each module can be modified, which means that users can test its own algorithm, such as SLAM, object detection, motion planning, attitude control, multi-UAV cooperation, and cooperation with other robots on the platform. The platform runs in lockstep, so the simulation speed can be adjusted according to the computer performance. In this paper, two cases, evaluating different visual SLAM algorithm and realizing UAV formation, are shown to demonstrate how the platform works.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。