Fully Autonomous Vehicle
using Raspberry Pi and
Lidar
Contents
• What is Lidar
• What Options Exits?
• Why Put it on Robot?
• How did it works?
• Software & Hardware Required
What is Lidar?
• A Lidar is an abbreviation for Light Detection and Ranging.
Essentially a Light based version of Radar.
• Lidar most frequently use time of flight measurement for
laser pulse to be reflected off of a target to determine its
range.
• The frequency of laser light is concern- 600-1000nm is most
common for non-scientific applications.
How does lidar works?
• Most lidar used time-of-flight
calculations between when the
laser pulse is send and when it
reflects off an object.
• Then, triangulation is used
based on the detector’s distance
from the laser source to the
laser detector to determine the
distance(That’s why many lidar
have two eyes)
Where are Lidars being used?
• Lidars were originally designed
for surveying Applications.
• Used to make high-resolution, 3D
maps from airborne platforms like
satellite, aircrafts and drones.
• Also used in self driving cars and
for 3D modeling.
Single Point Lidars
• Depending on the
application, lidar can be
either a single point-and-
shoot distance measure
-ment or be built to run in
scanning mode.
• The point-and-shoot variety
are often found in laser-
based measuring tapes.
Scanning Lidars
• Scanning lidars typically spin and
measure distance in a full 360
degree circle.
• Scanning lidars are considerably
more expensive than point-and-
shoot types.
• Scanning lidars have a spinning
frequency as well as a pulse
duration.
Robots and SLAM
• Simultaneous Localization and
Mapping(SLAM) is an approach
for creating a map of an
unknown environment while
keeping a track of an agent’s
location within the environment.
• Google has just released Their
SLAM Algorithms for their Self
driving cars.
Hardware and Software Needed
Hardware Software
• Raspberry Pi 3B+ • OS – Raspberry Pi OS
• Geared Motors • ROS
• Motor Driver • Programming – Python
• Battery
• Chassis
• Lidar
• Magnetometer
Raspberry Pi 3B+
• 1.4GHz 64-bit quad-core
processor
• Dual-band wireless LAN
• Bluetooth 4.2/BLE
• Faster Ethernet, and Power-over-
Ethernet support (with separate
PoE HAT)
Lidar
• 360-degree omnidirectional
scanning ranging distance
measurement
• Small distance error, stable
performance, and high accuracy
• 10m Ranging distance
• Adjustable motor speed
frequency differ from 6Hz~12Hz
• Ranging frequency up to 5KHz
Magnetometer
• Operating Voltage: 2.2V-3.6V
• Max Full Scale Resolution:
44,000µT
• Current Consumption: 100µA
(Typ.)
• I2C Address: 0xC0
Johnson Geared Motor
• Base Motor RPM: 18000
• Operating Voltage: 6-18 V
• Rated Torque: 7.5 kg-cm
• Stall Torque: 30 kg-cm
• Gearbox Dimensions: 25×37
(LxW) mm
Motor Driver - Cytron SmartDriveDuo-10
MDDS10
• Dual Channels means it can drive
two brush motor independently,
or mixed.
• Support Signed magnitude and
Locked Anti-phase in PWM
mode.
• On board reset button to restart
the MCU after changing
operation mode.
OS – Raspberry Pi OS
• Raspberry Pi OS is a free
operating system based on
Debian, optimised for the
Raspberry Pi hardware, and is
the recommended operating
system for normal use on a
Raspberry Pi. The OS comes with
over 35,000 packages:
precompiled software bundled in
a nice format for easy
installation on your Raspberry Pi.
ROS – Robotics Operating System
• The Robot Operating System
(ROS) is a set of software
libraries and tools that help you
build robot applications. From
drivers to state-of-the-art
algorithms, and with powerful
developer tools, ROS has what
you need for your next robotics
project. And it's all open source.
