Luka_b7
Posts: 1
Joined: Sat Mar 20, 2021 11:07 am

Self driving LIDAR robot using Raspberry Pi

Sat Mar 20, 2021 11:22 am

Hi,

i work on one project where i'm using YDLIDAR TG15. I want to make self driving robot car using LIDAR, but without ROS and SLAM. Almost everything i found on internet was with ROS, but i have no time to learn ROS from 0 and i want to do something just with LIDAR, raspberry pi 3 B+ and Arduino Due. I have some issues because i dont know how to process LIDAR's data. So, i have scan and all data's from LIDAR but i dont know how to use them with obstacle avoidance algorithm. Do i need map or i can do it without map? I am using Python 3 for programmming and i have RT RRT* algorithm, but i generate obstacles with pygame. I am not sure if i can use this algorithm also with LIDAR. If do, how can i then use data from LIDAR to implement them with this code? I am sharing with you one part of code in Python where i generate obstacles with pygame.

def makeobs(self):
obs = []

for i in range (0, self.obsNum):
rectang=None
startgoalcol = True
while startgoalcol:
upper = self.makeRandomRect()
rectang = pygame.Rect(upper, (self.obsDim, self.obsDim))
if rectang.collidepoint(self.start) or rectang.collidepoint(self.goal):
startgoalcol = True
else:
startgoalcol = False
obs.append(rectang)
self.obstacles = obs.copy()
return obs


PiGraham
Posts: 4862
Joined: Fri Jun 07, 2013 12:37 pm
Location: Waterlooville

Re: Self driving LIDAR robot using Raspberry Pi

Sat Mar 20, 2021 3:11 pm

Luka_b7 wrote:
Sat Mar 20, 2021 11:22 am
Hi,

i work on one project where i'm using YDLIDAR TG15. I want to make self driving robot car using LIDAR, but without ROS and SLAM. Almost everything i found on internet was with ROS, but i have no time to learn ROS from 0 and i want to do something just with LIDAR, raspberry pi 3 B+ and Arduino Due. I have some issues because i dont know how to process LIDAR's data. So, i have scan and all data's from LIDAR but i dont know how to use them with obstacle avoidance algorithm.
I don't know much about ROS but AIUI it does those things you don't know how to do.
I suspect you don't have time to do this without ROS.

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