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The goal of this project is to use scanning lidar to create a map which will enable autonomous navigation of a simple robot

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dblanding/lidar-scan-map

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Mapping LiDAR scan data

This project uses a Benewake TFMini Plus LiDAR module mounted to scan 225 degrees on a vertical axis. A hall effect angle encoder reports the angular position of the scan rotor.

Rotating LiDAR mounted on a Zero Turn (early prototype) car:

Zero Turn Car with rotating LiDAR

Rotating LiDAR mounted on an Omni-Wheel type car:

Omni Wheel Car with rotating LiDAR

More about Omni-Wheels can be found here.

By using the scan data, the car can navigate autonomously, able to make a multi-leg trip through the house.
An onboard Raspberry Pi 3B+ runs a python program which:

  • Collects data from the TFminiPlus on a USB serial port
  • Collects readings from the angular encoder via ADC (on I2C bus)
  • Finds the best fit lines through the scan points
  • Displays a plot of the points and the best fit lines.
  • Using OpenCV, calculates the best path forward, avoiding objects in its environment
  • Sends motor drive commands to the Arduino on the serial port
    (Arduino controls the motors through an Adafruit motor shield)
  • Keeps track of its position using data from an IMU and an odometer.
    • The IMU is an Adafruit BNO085 operating in RVC mode, sending data via serial
    • The odometer is a wheel mounted on the shaft of an incremental encoder,
      • Encoder data is collected by an ESP32 and sent to RasPi via ADC

plot showing data points & best-fit lines

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The goal of this project is to use scanning lidar to create a map which will enable autonomous navigation of a simple robot

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