Basic Navigation

Your first autonomous navigation run with the AV2.

Prerequisites

Before starting:

  • [ ] All hardware connected and powered

  • [ ] Software installed and configured

  • [ ] Test area clear and safe

  • [ ] Emergency stop accessible

Step 1: Start the System

Open a terminal and activate the environment:

cd ~/utm-navigator
source venv/bin/activate

Step 2: Verify GPS

Check GPS status:

python -c "from xsens_class import XsensReceiver; x = XsensReceiver(); print(x.get_rtk_status())"

Wait for “Fixed” status for best accuracy.

Step 3: Choose Destination

Select a destination within line of sight, 20-50 meters away.

Get coordinates using Google Maps or GPS app.

Step 4: Launch Navigation

python runner.py --lat 34.0580 --lon -117.8210

Step 5: Monitor Progress

Watch the visualization window showing:

  • Blue dot: Current position

  • Green line: Planned route

  • Red marker: Target waypoint

Step 6: Safe Shutdown

When destination reached or to stop:

  1. Press Ctrl+C in terminal

  2. Vehicle will brake and stop

Troubleshooting

Vehicle doesn’t move

  • Check drive mode is set to “D”

  • Verify throttle commands in logs

  • Check emergency stop is released

Vehicle oscillates

  • Reduce controller gains

  • Increase lookahead distance

  • Check for GPS interference

Next Steps