论文标题
XTDRONE：可自定义的多旋转无人机仿真平台
XTDrone: A Customizable Multi-Rotor UAVs Simulation Platform
论文作者
论文摘要
提出了基于ROS，凉亭和PX4的可自定义的多旋转无人机仿真平台。该平台称为XTDRONE，集成了动态模型，传感器模型，控制算法，状态估计算法和3D场景。该平台支持多人无人机和其他机器人。该平台是模块化的，可以修改每个模块，这意味着用户可以测试其自己的算法，例如SLAM，对象检测，运动计划，态度控制，多UAV合作，并与平台上的其他机器人合作。该平台锁定运行，因此可以根据计算机性能调整模拟速度。在本文中，证明两种情况，评估了不同的视觉大满贯算法并意识到无人机形成，可以证明平台的工作原理。
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.
