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VG-450 User Manual

Content

Introduction..................................................................................................

Overview................................................................................................

Specification..........................................................................................

Connection Steps.........................................................................................

Remote Controller Control..........................................................................

Keyboard Control........................................................................................

Waypoint Planning and VFH Obstacle Avoidance Function......................

2D Mapping.................................................................................................

3D Mapping.................................................................................................

Simulation Introduction...............................................................................

Simulation System.................................................................................

Navigation Function..............................................................................

RtabMap 3D Mapping Function............................................................

OctoMap 3D Mapping Function...........................................................

SLAM 2D Mapping Function...............................................................

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Содержание VG-450 UGV

Страница 1: ...VG 450 User Manual VG 450 UGV User Manual V1 0 2021 09...

Страница 2: ...3 Remote Controller Control 3 Keyboard Control 3 Waypoint Planning and VFH Obstacle Avoidance Function 3 2D Mapping 4 3D Mapping 4 Simulation Introduction 5 Simulation System 5 Navigation Function 5 R...

Страница 3: ...and APM auto navigation system and also equipped with multiple sensors such as LiDAR binocular camera depth camera RTK which is suitable for applied research on autonomous delivery vehicles service r...

Страница 4: ...isheye lenses close to hemispherical 163 5 FOV IMU BMIO55 allows for accurate measurement of rotation and acceleration of the device Depth Camera Model Intel Realsense D435i Depth technology active IR...

Страница 5: ...tton of the UGV 2 Turn on the remote controller 3 Connect to the UGV s WiFi and use the Mission Planner ground station and NoMachine to connect to the UGV 4 Find the sh script folder of the UGV s onbo...

Страница 6: ...a terminal and enter the following command to start waypoint planning and VFH obstacle avoidance function r300_vfh sh 7 In the Mission Planner ground station select Action Mode AUTO or GUIDED Set Mod...

Страница 7: ...imulation Introduction Simulation System The R300 simulation system is based on ROS and Gazebo simulation system It provides UGV body models and sensor simulations such as 2D lidar 3D lidar and depth...

Страница 8: ...gular velocity is recommended to control within 0 5 After the UGV s positioning has converged under normal circumstances the UGV can rotate for one full circle Press crtl c in the keyboard control ter...

Страница 9: ...arbitrarily drag the r300_simulation_rtabmap sh file into the terminal window and a command to start the sh script will appear Press Enter to start it Check the terminal window that pops up and whethe...

Страница 10: ...window that pops up and whether the nodes in each terminal are started normally After confirming that the nodes are running normally enter the corresponding control instructions in the third keyboard...

Страница 11: ...a command to start the sh script will appear Press Enter to start it Check the terminal window that pops up and whether the nodes in each terminal are started normally After confirming that the nodes...

Страница 12: ...VG 450 User Manual 10...

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