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.

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

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