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

被引：0

作者：

Ferreira, Edilson ^{[1
,2
]}

Grilo, Vinicius ^{[1
,2
]}

Braun, Joao ^{[1
,3
,4
,5
]}

Santos, Murillo ^{[2
]}

Pereira, Ana I. ^{[1
,3
]}

Costa, Paulo ^{[4
,5
]}

Lima, Jose ^{[1
,3
,4
]}

机构：

[1] Inst Politecn Braganca, Res Ctr Digitalizat & Intelligent Robot CeDRI, P-5300253 Braganca, Portugal

[2] Ctr Fed Educ Tecnol Minas Gerais CEFET MG, Belo Horizonte, MG, Brazil

[3] Inst Politecn Braganca, Lab Associado Sustentabilidade & Tecnol Regioes M, Campus Santa Apolonia, P-5300253 Braganca, Portugal

[4] INESC TEC, Robot & Intelligent Syst Res Grp, P-4200465 Porto, Portugal

[5] Univ Porto, FEUP Fac Engn, Rua Dr Roberto Frias, P-4200465 Porto, Portugal

来源：

ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE ADVANCES IN ROBOTICS, VOL 1 | 2024年 / 976卷

关键词：

Path planning algorithm; A*; LiDAR;

D O I：

10.1007/978-3-031-58676-7_5

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：53 / 66

页数：14

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