brief background
In recent years, the degree of intelligence of UAVs has been continuously improved, and the size of clusters has continued to increase. Against this background, the importance of a good general-purpose simulation platform for UAVs has become increasingly prominent. Compared with unmanned vehicles and ground robots, drones are more prone to loss of control. Therefore, if a real UAV is used for algorithm debugging, it will take a lot of time and pose a security risk. Also, for machine learning related algorithms, the cost of training drones in the real world is too high. Therefore, a reliable and efficient general-purpose simulation platform is crucial in the development and application of UAV algorithms.
The existing open source UAV simulation platforms are generally not in place in terms of versatility. They either only support one type of UAV, such as multi-rotor or fixed wing; or only support one UAV. simulation; or does not support other unmanned devices, such as robotic arms, unmanned vehicles and unmanned ships. A general simulation platform for UAVs that supports multi-machines, multi-types and multi-unmanned equipment is what the industry needs.
Platform Introduction
In this context, we developed the XTDrone UAV general simulation platform. XTDrone adopts a layered modular architecture with high reliability and easy maintenance and expansion. It is developed based on ROS, PX4 and Gazebo, supports multi-machine and multi-type simulation, and integrates dynamic models, sensor models, control algorithms, state estimation algorithms and 3D scenes. XTDrone supports multi-rotor UAVs, fixed-wing UAVs and compound-wing UAVs, as well as unmanned vehicles, unmanned ships and robotic arms, and includes all mainstream sensors. Its code is open source on Gitee and GitHub, and provides detailed Chinese and English documents and a series of development examples covering perception, planning and collaboration. At present, the simulation platform has attracted the attention of many drone developers, and won the title of Gitee's most valuable open source project. The development document has been viewed more than 20,000 times, and it has been officially recommended by PX4.
references:
Gitee: Xiao Kun/XTDrone
Github: robin-shaun/XTDrone
Yuque: XTDrone User Documentation Yuque
Platform effect: XTDrone UAV general simulation platform - Know about
