Kai-Chen LinEvan LuoChao-Hsien TingHao-Kang LiuYu-Wen ChenYuwei Chu邱筑琪
Published

Sim-to-Real: Virtual Guidance for Robot Navigation

We present an effective, easy-to-implement, and low-cost modular framework for completing complex navigation tasks.

AdvancedFull instructions provided20 hours5,479

Things used in this project

Hardware components

NVIDIA Jetson Nano Developer Kit
NVIDIA Jetson Nano Developer Kit
×2
NVIDIA Jetson AGX Xavier
×2
ZED Stereo Camera
ZED is a stereo camera which is originally used for long-range depth perception. However, in our scenario, ZED acts like a normal camera. You can re-implement our project with other RGB cameras.
×1
Clearpath Husky AGV
We use Clearpath Husky as our autonomous guided vehicle.
×1
TP-Link TL-WR840N Wireless Router
×1
GeChic 1102H On-Lap Portable Monitor
×1

Software apps and online services

TensorFlow
TensorFlow
Unity
Unity

Story

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Custom parts and enclosures

AGV

The figure below illustrates the computer-aided design (CAD) of our AGV system. The robot base is an AGV from Clearpath Robotics Inc. The AGV takes action commands from the control policy module of the proposed framework discussed above. On top of the AGV are the RGB camera, the monitor, and the embedded cluster including two NVIDIA Jetson Nano boards and two NVIDIA Jetson Xavier boards. A router and ethernet links are used to connect the components of the AGV system. Please note that although the RGB camera is a stereo camera “Zed”, its depth estimation feature is not used in this project. We select this camera because it supports ROS and can thus be easily integrated into our system.

Schematics

Schematic

Fully assembled and exploded view of the Clearpath Husky AGV and the other components.

Code

Github

Credits

Kai-Chen Lin

Kai-Chen Lin

1 project • 7 followers
Evan Luo

Evan Luo

1 project • 5 followers
Chao-Hsien Ting

Chao-Hsien Ting

1 project • 3 followers
Hao-Kang Liu

Hao-Kang Liu

1 project • 4 followers
Yu-Wen Chen

Yu-Wen Chen

1 project • 4 followers
Yuwei Chu

Yuwei Chu

0 projects • 0 followers
邱筑琪

邱筑琪

0 projects • 0 followers

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