Lidar

[ottopasuuna]

One option for environmental awareness is a LIDAR, basically a RADAR but with lasers.

• [x] Get distance readings
• [x] Rotate the range finder
• [x] Keep track of rotation to pair with distance readings
• [x] Create basic map of the surroundings based on the distance and rotation values. Likely will be done on the python/webui side.
• [x] If we have time, put it on a 2 axis gimbal to get elevation values.

[ottopasuuna]

We can also use an ultrasonic range finder to cut down on costs, but have less range and accuracy.

[ottopasuuna]

One issue with the Lidar is if we just have the lidar constantly spam its data points to the rover, that will take a lot of bandwidth and likely tax the system too much. Would it be a good idea to have the arduino do processing of it's own data and send the distance of the closest object to the rover? Also, the lidar has to scan fast enough to detect objects before the rover drives into them. Currently, I'm not sure if servo motors would be fast enough as opposed to a brushless motor that continually spins 360 degrees but maybe it isn't an issue. Another option was to use the computer vision system to get a rough estamate of where objects might be and have the lidar scan just those locations. I'm not sure how feasable that would be though.

[ottopasuuna]

I'm going to call this done. It hasn't been tested extensively, but the embedded side is basically finished, the only things to add would be more on the communication side and integrating more with the rover system.