YDLIDAR TG15

[Luka_b7]

Hi,

i work on one project where i'm using YDLIDAR TG15. I want to make self driving robot car using LIDAR, but without ROS and SLAM. Almost everything i found on internet was with ROS, but i have no time to learn ROS from 0 and i want to do something just with LIDAR, raspberry pi 3 B+ and Arduino Due. I have some issues because i dont know how to process LIDAR's data. So, i have scan and all data's from LIDAR but i dont know how to use them with obstacle avoidance algorithm. Do i need map or i can do it without map? I am using Python 3 for programmming and i have RT RRT* algorithm, but i generate obstacles with pygame. I am not sure if i can use this algorithm also with LIDAR. If do, how can i then use data from LIDAR to implement them with this code? I am sharing with you one part of code in Python where i generate obstacles with pygame.

def makeobs(self):
    obs = []

    for i in range (0, self.obsNum):
         rectang=None                   
         startgoalcol = True           
         while startgoalcol:
            upper = self.makeRandomRect()
            rectang = pygame.Rect(upper, (self.obsDim, self.obsDim))
            if rectang.collidepoint(self.start) or rectang.collidepoint(self.goal):
                startgoalcol = True       
            else:
                startgoalcol = False
            obs.append(rectang)
         self.obstacles = obs.copy()
     return obs

[DiTBho]

what is "RT RRT* algorithm" ?

[DiTBho]

Umm, this must be you. I will look and follow that topic.