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.
| Key | Value |
|---|---|
| Scenario | primeval forest |
| Task | wildlife protection |
| Target | bear, deer, wolf |
| terrain | mountains, lakes, plains |
| weather | Sunny, rain, snow, fog, wind, fire, thunder |
| Sensor | RGBD, brightness, temperature, humidity, smoke, airflow, lidar, infrared |
| Robot | quadcopter drone |