Flightmare: A Flexible Quadrotor Simulator 无人机仿真器

Flightmare：A Flexible Quadrotor Simulator

Flightmare简介

Flightmare is an open-source simulator for quadrotors. It is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. In addition, it has OpenAI gym-style python wrapper for reinforcement learning tasks and flexible interface with stable baselines for solving these tasks with deep RL algorithms. Flightmare provides ROS wrapper to interface with popular ROS packages, such as high_mpc for learning-based mpc, rpg_mpc for advanced quadrotor controller, and rpg_quadrotor_control for hard-ware-in-the-loop simulation.

• Flightmare 是UZH Robotics and Perception Group开源的一款基于C++开发的无人机仿真器

• 主要由两个部分组成：

  • 基于Unity 构建的渲染引擎
  • 用于动态仿真的物理引擎

• 并且有丰富的拓展接口：

  • OpenAI gym-style python wrapper 用于Deep RL的训练测试任务
  • ROS wrapper 可以对接一些 high_mpc、rpg_mpc等一些ROS包