Deterministic First Version

UGV Perimeter Navigation Simulator

Waypoint following, VFH-style local avoidance, GNSS denial, fiber-optic orientation, and marker-based recovery in a single top-down view.

Controls

Run Seed

UGV Cruise Speed

km/h

Allowed Experiment Time

Turnback Delay

Orientation Source

Fiber-optic gyro precision

Basic FOG profile. The model samples angular increments at 20 Hz.

Bias stability

°/h

Angular random walk

°/√h

Scale-factor error

ppm

Visible Channel

Fusion Software

Force GNSS loss Rangefinder 1 Hz Passive marker correction New obstacles during run Show camera FOV Show planned path Show actual path Show estimated path

Map Interaction

Every reset starts with a clear map. Use Load Scenario for the built-in static and moving obstacles.

Enable Place Obstacle, then click inside the map to drop a static obstacle anywhere except on the UGV, markers, target, or perimeter edge.

The rangefinder emits one pulse per second straight along the UGV heading. If a forward block persists past the selected delay, the vehicle performs a turnback recovery.

The visible channel changes camera range and marker/obstacle detection. The fiber-optic gyroscope is an inertial sensor and remains available when camera visibility is blocked.

Dashed obstacle rings are the tracks available to VFH. The planner no longer receives hidden ground-truth obstacles.

GNSS loss, orientation tools, passive markers, rangefinder, weather, and fusion-software quality can be analysed independently or together.

Run Metrics

Run Log

Pilot Dashboard

Future

Waypoint Editor

Drag route nodes and save named mission templates for repeated test campaigns.

Future

Terrain And Slip

Add traction classes, wheel slip, and battery drain to stress the controller under nonideal ground conditions.

Future

Telemetry Export

Export CSV traces, frame snapshots, and event markers for after-action comparison across seeds and sensor modes.