集群式无人机仿真环境和数据集

Quick Start

Compiling tests passed on 20.04 with ros installed. You can just execute the following commands one by one.

# Download the Simulator and run it
wget https://cloud.tsinghua.edu.cn/library/34e91522-1117-4021-874f-d40083dc90e0/Simulator/UAV_Bear_Simulator.zip
uzip UAV_Bear_Simulator.zip
cd ./UAV_Bear_Simulator
mkdir ~/Documents/AirSim
cp settings.json ~/Documents/AirSim
./Landscape.sh
# Play UAV using a keyboard
sudo apt-get install ros-noetic-desktop-full
sudo apt-get install ros-noetic-geographic-msgs, ros-noetic-tf2-geometry-msgs, ros-noetic-tf2-sensor-msgs, ros-noetic-image-transport
sudo apt-get install python3-catkin-tools
https://cloud.tsinghua.edu.cn/library/34e91522-1117-4021-874f-d40083dc90e0/Simulator/UAV_Bear_Alg.zip
uzip UAV_Bear_Alg.zip
cd UAV_Bear_Alg
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.bash
roslaunch kb_ctrl kb_ctrl.launch

Acknowledgements

This work can extend to multi-sensor fusion, swarm navigation, and swarm tracking tasks.

• ros-noetic
• ubuntu20.04
• NVIDIA RTX4090TI gpu (version：535.146.02)
• INTEL I5 12th CPU

SwarmSim

SwarmSim is a general-purpose multi-robot simulator based on Unity and a benchmark for swarm embodied intelligence in a dynamic, dense, open, and interference environment.　SwarmSim includes 3 types of terrain, 7 types of weather, and 8 types of sensor information.