Publicação

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

Detalhes bibliográficos
Resumo:	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.
Autores principais:	Ferreira, Edilson Santos
Outros Autores:	Grilo, Vinicius F.S.B.; Braun, João; Santos, Murillo F. dos; Pereira, Ana I.; Costa, Paulo Gomes da; Lima, José
Assunto:	Path planning algorithm A* LiDAR
Ano:	2024
País:	Portugal
Tipo de documento:	comunicação em conferência
Tipo de acesso:	acesso restrito
Instituição associada:	Universidade Politécnica de Bragança
Idioma:	inglês
Origem:	Biblioteca Digital da UPB

Descrição
Resumo:	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.

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