https://github.com/gaborszita/lidar-project

Software for a little robot controlled by a Raspberry Pi and the host machine.
https://github.com/gaborszita/lidar-project

lidar raspberry-pi robot robotics

Last synced: 5 days ago
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Software for a little robot controlled by a Raspberry Pi and the host machine.

• Host: GitHub
• URL: https://github.com/gaborszita/lidar-project
• Owner: gaborszita
• License: gpl-3.0
• Created: 2020-04-06T01:17:48.000Z (almost 5 years ago)
• Default Branch: master
• Last Pushed: 2021-08-10T18:08:46.000Z (over 3 years ago)
• Last Synced: 2024-12-18T10:12:21.357Z (about 2 months ago)
• Topics: lidar, raspberry-pi, robot, robotics
• Homepage:
• Size: 17.6 KB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: COPYING

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README

        
# lidar-project

This project is about a robot controlled by a Raspberry Pi hat has a lidar on it. 

It can move in various directions since it has mechanum wheels. t has 

software on the host machine that can control the robot, display the 

lidar readings visually, and calculate the robots position. The robot and the 

host machine communicate through a TCP socket.

I also recently added SLAM functionality to it, that can calculate the x and y 

coordinates of the robot and map its surroundings. However, the localization algorithm 

is currently imperfect and the mapping algorithm uses up so many resources that it 

maxes out on CPU and starts lagging behind the data the robot is sending. I'm exploring 

ideas to fix this issue.

Originally the robot used the Neato XV-11 lidar, but I switched to the RPLIDAR A1, 

because it has a much higher refresh rate. This greatly increased the effectiveness of 

the SLAM algorithm.

These are the two sub-repositories for this project:

- [Repository for the software on the host machine](https://github.com/gaborszita/lidar-project-vs)

- [Repository for the program on the robot](https://github.com/gaborszita/lidar-project-rpi)

You can check out the robot in one of its first stages [here](https://www.youtube.com/watch?v=bZktxaEqpzo).