Ferreira, Edilson SantosGrilo, Vinicius F.S.B.Braun, JoãoSantos, Murillo F. dosPereira, Ana I.Costa, Paulo Gomes daLima, José2025-02-112025-02-112024Ferreira, 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 978-3-031-58675-0.978-3-031-58675-0http://hdl.handle.net/10198/31174This 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.engPath planning algorithmA*LiDARconference paper10.1007/978-3-031-58676-7_5