Low cost solution for 3D mapping of environment using 1D LIDAR for autonomous navigation

Abstract

The mobile robotics industry is booming rapidly and this demands low cost alternatives to autonomous navigation. Perceiving the unknown environment is of utmost importance for the robot to navigate. In this paper, a low cost indoor navigation system for mapping of stationary environment and object detection has been presented. Algorithm to convert 1D LIDAR (Light Detection and Ranging) into 3DLIDAR has been developed. Profile of the objects that are obstacles has been plotted using a simple, one dimensional point LIDAR. The system will detect the presence and shape of the object as quickly as possible using the adaptive scanning approach.