# XTDrone

**Repository Path**: dannis_gou/XTDrone

## Basic Information

- **Project Name**: XTDrone
- **Description**: 基于PX4、ROS和Gazebo的无人机通用仿真平台
- **Primary Language**: Python
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 396
- **Created**: 2024-08-03
- **Last Updated**: 2024-08-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<img src="./images/logo.jpg" width="256"  />

<div id="sidebar"><a href="./README.md" target="_blank"><font color=#0000FF size=5px >[中文版]<font></center><a></div>

### Description

XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and other unmanned systems (such as UGVs, USVs and robotic arms). It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform.

<img src="./images/vehicles.png" width="640"  /> 

Architecture for single vehicle simulation is shown as the below figure.  For more details, please see the paper

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.

ArXiv preprint **[ arXiv:2003.09700](https://arxiv.org/abs/2003.09700)** (2020)

<img src="./images/architecture_1_en.png" width="640" height="480" />  

Architecture for multiple vehicle simulation is shown as the below figure.  For more details, please see the paper

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

ArXiv preprint **[ arXiv:2005.01125](https://arxiv.org/abs/2005.01125)** (2020)

If you use XTDrone for your academic research, please cite our related papers. 

<img src="./images/architecture_2_en.png" width="640" />  

Developers can quickly verify algorithms with XTDrone, such as:

Stereo SLAM

<img src="./images/vslam.gif" width="640" height="360" /> 

Visual Inertial Navigation

<img src="./images/vio.gif" width="640" height="360" />  

Visual Dense Reconstruction

<img src="./images/dense_reconstruction.gif" width="640" height="360" /> 

2D Laser SLAM

<img src="./images/laser_slam_2d.gif" width="640" height="360" /> 

3D Laser SLAM

<img src="./images/laser_slam_3d.gif" width="640" height="360"/>  

2D Motion Planning

<img src="./images/2d_motion_planning.gif" width="640" height="360" />  

<img src="./images/2d_motion_planning_new.gif" width="640" height="360" />  

3D Motion Planning

<img src="./images/3d_motion_planning.gif" width="640" height="360" /> 

Swarm Motion Planning

<img src="./images/swarm_motion_planning.gif" width="640" height="306" />  

Object Detection and Tracking

<img src="./images/human_tracking.gif" width="640" height="360" /> 

Formation

<img src="./images/formation_1.gif" width="640" height="360" />  

<img src="./images/formation_2.gif" width="640" height="360" />  

Multi-UAV Precision Landing

<img src="./images/multi_precision_landing.gif" width="640" height="360" />  

Fixed wing

<img src="./images/planes.gif" width="640" height="360" />  

VTOL

<img src="./images/vtols.gif" width="640" height="360" />  

UGV

<img src="./images/ugv.gif" width="640" height="360" />  

<img src="./images/ugv_planning.gif" width="640" height="398" /> 


USV

<img src="./images/usv.gif" width="640" height="360" />  


Robot Arm

<img src="./images/robotic_arm.gif" width="640" height="360" />  

### User manual

 [XTDrone Manual](https://www.yuque.com/xtdrone/manual_en)

### Developing Team

- Founders: Kun Xiao, Shaochang Tan
- Adviser: Xiangke Wang
- Developers: Kun Xiao, Shaochang Tan, An Zhuo， Guanzheng Wang, Lan Ma, Yuke Li, Qipeng Wang, Xinyu Hu, Xinning Wu, Jiayi Zheng, Yufan Peng, Zijun Zheng, Jiarun Yan, Feng Yi, Ruoqiao Guan, Wenxin Hu, Yi Bao,  Xudong Liu, Jie Min, Chuanlu Liu, Ciyu Ruan

### Contributers

Sincerely thank you for your contribution to XTDrone.

Keyan Chen, Jiangwei Xu, Yongguang Lu, Gao Chen, Changhao Sun, Ying Nie, Fanjie Kong, Chaoran Li, Xudong Li, Huaqing Zhang, Zihan Lin, Yao He

### Business cooperation

For commercial inquiries, please contact Kun Xiao <robin_shaun@foxmail.com>.