Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning Based on the A* Algorithm

Ferreira, Edilson Santos; Grilo, Vinicius F.S.B.; Braun, João; Santos, Murillo F. dos; Pereira, Ana I.; Costa, Paulo Gomes da; Lima, José

http://hdl.handle.net/10198/31174

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Autores

Ferreira, Edilson Santos

Grilo, Vinicius F.S.B.

Braun, João

Santos, Murillo F. dos

Pereira, Ana I.

Costa, Paulo Gomes da

Lima, José

Resumo(s)

This article presents the development of a low-cost 3D mapping technology for trajectory planning using a 2D LiDAR and a stepper motor. The research covers the design and implementation of a circuit board to connect and control all components, including the LiDAR and motor. In addition, a 3D printed support structure was developed to connect the LiDAR to the motor shaft. System data acquisition and processing are addressed, as well as the generation of the point cloud and the application of the A* algorithm for trajectory planning. Experimental results demonstrate the effectiveness and feasibility of the proposed technology for low-cost 3D mapping and trajectory planning applications.

Palavras-chave

Path planning algorithm A* LiDAR

URI

http://hdl.handle.net/10198/31174

Citação

Ferreira, Edilson; Grilo, Vinicius; Braun, João; Santos, Murillo; Pereira, Ana I.; Costa, Paulo; Lima, José (2024). Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning Based on the A* Algorithm. In 6th Iberian Robotics Conference (Robot 2023). Cham: Springer Nature, p. 53-66. ISBN 978-3-031-58675-0.