From Visakhapatnam, catch the 1 Vishakapatnam - Kirandul Passenger (1VK) having Reserved First Class & Sleeper Class accomodation. 1 VK departs Vishakapatnam at around 06:45 am and reaches Jagdalpur by around 05:30 pm
From Hyderabad, you have to reach Bhadrachalam first and then drive down close to 250 Kms on the single -laned NH 212, via Konta & Sukma to reach Jagdalpur. Road conditions are bad,and be prepared for frequent checks by the law enforcement authorities. Your vehicle of choice for a trip to Jagdalpur should ideally be a vehicle having a high ground clearance, and SUVs like the TATA Safari & Ford Endeavour fit the bill perfectly.
From Raipur (Capital of Chhattisgarh state), the road to Jagdalpur is good enough. You have regular overnight non-a/c sleeper buses running between Raipur/Bilaspur & Jagdalpur.
Check out the Anthropological museum (Located about 3 Kms from the city centre - closed on Sundays); there is also a big lake within Jagdalpur, with boating facilities. Take a walk down the Sanjay market area. No public transport in Jagdalpur; you can hire cycle-rickshaws though.