Publication
Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning Based on the A* Algorithm
| dc.contributor.author | Ferreira, Edilson Santos | |
| dc.contributor.author | Grilo, Vinicius F.S.B. | |
| dc.contributor.author | Braun, João | |
| dc.contributor.author | Santos, Murillo F. dos | |
| dc.contributor.author | Pereira, Ana I. | |
| dc.contributor.author | Costa, Paulo Gomes da | |
| dc.contributor.author | Lima, José | |
| dc.date.accessioned | 2025-02-11T16:13:46Z | |
| dc.date.available | 2025-02-11T16:13:46Z | |
| dc.date.issued | 2024 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.sponsorship | This work has been supported by SmartHealth - Inteligência Artificial para Cuidados de Saúde Personalizados ao Longo da Vida, under the project ref. NORTE-01-0145-FEDER-000045. The authors are grateful to CeDRI (UIDB/05757/2020 and UIDP/05757/2020), SusTEC (LA/P/0007/2021). The project that gave rise to these results received the support of a fellowship from ”la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.citation | 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. | pt_PT |
| dc.identifier.doi | 10.1007/978-3-031-58676-7_5 | pt_PT |
| dc.identifier.isbn | 978-3-031-58675-0 | |
| dc.identifier.uri | http://hdl.handle.net/10198/31174 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.publisher | Springer Nature | pt_PT |
| dc.relation | Research Centre in Digitalization and Intelligent Robotics | |
| dc.relation | Research Centre in Digitalization and Intelligent Robotics | |
| dc.relation | Associate Laboratory for Sustainability and Tecnology in Mountain Regions | |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | pt_PT |
| dc.subject | Path planning algorithm | pt_PT |
| dc.subject | A* | pt_PT |
| dc.subject | LiDAR | pt_PT |
| dc.title | Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning Based on the A* Algorithm | pt_PT |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.awardTitle | Research Centre in Digitalization and Intelligent Robotics | |
| oaire.awardTitle | Research Centre in Digitalization and Intelligent Robotics | |
| oaire.awardTitle | Associate Laboratory for Sustainability and Tecnology in Mountain Regions | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/LA%2FP%2F0007%2F2020/PT | |
| oaire.citation.endPage | 66 | pt_PT |
| oaire.citation.startPage | 53 | pt_PT |
| oaire.citation.title | 6th Iberian Robotics Conference (Robot 2023) | pt_PT |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| person.familyName | Braun | |
| person.familyName | Pereira | |
| person.familyName | Lima | |
| person.givenName | João A. | |
| person.givenName | Ana I. | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | BF13-D66B-7D08 | |
| person.identifier.ciencia-id | 0716-B7C2-93E4 | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0003-0276-4314 | |
| person.identifier.orcid | 0000-0003-3803-2043 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | F-3168-2010 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 57211244317 | |
| person.identifier.scopus-author-id | 15071961600 | |
| person.identifier.scopus-author-id | 55851941311 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | restrictedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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