Publicação
Three-dimensional mapping of an unknown environment based on 2D laser measurement
| Resumo: | 3D mapping technology plays a key role in the field of robotics and autonomous navigation by enabling accurate perception and understanding of a robot’s surrounding environment. However, traditional 3D mapping systems can be expensive and inaccessible, limiting their application in low-cost scenarios. This work presents the development of a low-cost 3D mapping technology for trajec- tory planning using the A* algorithm. The main objective of this study is to provide a easible and cost-effective solution for 3D mapping, enabling accurate trajectory planning in robotic environments. The proposed approach combines a 2D LiDAR, a stepper motor, and the A* algorithm or trajectory planning. In addition, a circuit board for connecting and controlling the equipment and a 3D-printed support for attaching the LiDAR to the motor shaft are developed. The system is able to acquire data, perform the processing and generate a point cloud for use in trajectory planning with the A* algorithm. The experimental results demonstrate the effectiveness and feasibility of the proposed technology, opening doors to low-cost robotics applications, such as small autonomous vehicles. Furthermore, this approach offers an affordable alternative for research and development in the field of 3D mapping and trajectory planning. Finally, possible improvements to be implemented in future work are highlighted. |
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| Autores principais: | Ferreira, Edilson Santos |
| Assunto: | Path planning algorithm A* LiDAR Low-cost 3D mapping |
| Ano: | 2024 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| Resumo: | 3D mapping technology plays a key role in the field of robotics and autonomous navigation by enabling accurate perception and understanding of a robot’s surrounding environment. However, traditional 3D mapping systems can be expensive and inaccessible, limiting their application in low-cost scenarios. This work presents the development of a low-cost 3D mapping technology for trajec- tory planning using the A* algorithm. The main objective of this study is to provide a easible and cost-effective solution for 3D mapping, enabling accurate trajectory planning in robotic environments. The proposed approach combines a 2D LiDAR, a stepper motor, and the A* algorithm or trajectory planning. In addition, a circuit board for connecting and controlling the equipment and a 3D-printed support for attaching the LiDAR to the motor shaft are developed. The system is able to acquire data, perform the processing and generate a point cloud for use in trajectory planning with the A* algorithm. The experimental results demonstrate the effectiveness and feasibility of the proposed technology, opening doors to low-cost robotics applications, such as small autonomous vehicles. Furthermore, this approach offers an affordable alternative for research and development in the field of 3D mapping and trajectory planning. Finally, possible improvements to be implemented in future work are highlighted. |
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