Robot Car Path Planning with Motion Tracking and Lidar
The robot detects obstacles with Lidar, plans the path with A* algorithm, then travels through the path with motion tracking.
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Components
Hardware components
WIZnet - W5500
x 1
Texas Instruments - LAUNCHXL-F28069M C2000 Piccolo LaunchPad
x 1
Project description
Story This project is the final project of SE423 at UIUC. The goal of this project is to let the robot car navigate through a built track while avoiding the random obstacle in its way. There are several major components of this project. Control the robot car and use dead reckoning to get the pose of the robot car Process Lidar reading with F28379D Launchpad Use Lidar to recognize the obstacle Use A* algorithm to find the path Communicate with the motion tracking system to navigate through the path Control the robot car We used the enhanced Quadrature Encoder Pulse (eQEP) peripheral of the…
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