1. Object Tracking and Motion Control using LiDAR
• Implement LiDAR to guide a 1/10th scale vehicle using
motion control algorithms.
• Implement a Serial Peripheral Interface (SPI) Bus to
handle communications between Arduino, Linux
Computer, and the LiDAR Sensor.
• Implement a Solar array on top of the vehicle to
promote an energy efficient system.
LiDAR: Light Detection And Ranging.
• Description: LiDAR uses lasers to track distance and
position of an object in a near 360-degree area
around the sensor.
SLAM: Simultaneous Localization And Mapping
• SLAM is used to map stationary objects and create a
model containing the position and orientation of the
vehicle in motion.
Lekako Johnson and Scott Swiecki
• LiDAR is the foundation of autonomous vehicle systems and
the primary technology used in Point-Cloud mapping
techniques.
• Exposure to Programming, Embedded Systems, Circuit
Design, Communications, Control Systems, and Renewable
Energy Systems.
• Programming Languages Required are C, C++, and C#.
• This Project will utilize a Hokuyo URG-04LX-UG01
Scanning Laser Range Finder.
• Power Requirement: 5V DC, 500mA
• Scan Angle: 240 Degrees
• Angular Resolution: 0.36 Degrees
• Detection Distance: 20mm ~ 4000mm
• Accuracy: +-30mm
• Sample Time: 100msec/scan
• Scans: 2D
1) Lidar scans the vehicles surroundings.
2) Easily identifiable objects are extracted
and set as landmarks.
3) The data associated with the landmark
positions is used to implement an
Extended Kalman Filter (EKF) in order to
estimate and correct for uncertainty in
vehicle position.
4) Based on the EKF correction factor, proper
system localization can be achieved
without the use of GPS systems.