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

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 976))

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Abstract

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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Notes

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    https://www.autodesk.com/products/eagle/overview.

  2. 2.

    https://jlcpcb.com/.

  3. 3.

    https://www.autodesk.com/products/inventor/overview.

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Acknowledgment

This work has been supported by SmartHealth - Inteligência Artificial para Cuidados de Saúde Personalizados ao Longo da Vida, under the project ref. NORTE-01-0145-FEDER-000045.

The authors are grateful to CeDRI (UIDB/05757/2020 and UIDP/05757/2020), SusTEC (LA/P/0007/2021). The project that gave rise to these results received the support of a fellowship from “la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028.

Author information

Authors and Affiliations

  1. Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Bragança, 5300-253, Bragança, Portugal

    Edilson Ferreira, Vinicius Grilo, João Braun, Ana I. Pereira & José Lima

  2. Centro Federal de Educação Tecnológica de Minas Gerais (CEFET-MG), Minas Gerais, Brazil

    Edilson Ferreira, Vinicius Grilo & Murillo Santos

  3. Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Instituto Politécnico de Bragança, Campus de Santa Apolónia, 5300-253, Bragança, Portugal

    João Braun, Ana I. Pereira & José Lima

  4. Robotics and Intelligent Systems Research Group INESC TEC, 4200-465, Porto, Portugal

    João Braun, Paulo Costa & José Lima

  5. FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    João Braun & Paulo Costa

Authors
  1. Edilson Ferreira
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  2. Vinicius Grilo
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  3. João Braun
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  4. Murillo Santos
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  5. Ana I. Pereira
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  6. Paulo Costa
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  7. José Lima
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Corresponding author

Correspondence to Edilson Ferreira .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politecnica de Madrid, Madrid, Spain

    Manuel Ferre

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Ferreira, E. et al. (2024). Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning Based on the A\(^*\) Algorithm. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_5

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