// robotics
Autonomous LiDAR robot — Turtlebot Relâmpago Marquinhos
Mobile robot that maps its surroundings with a 2D LiDAR and drives in autonomous or manual mode.
Project Demo
About the project
Turtlebot-style robot developed at UTFPR by a team of three (Ramon M. P. Mariano, Raphael Leite Diniz and Gustavo Orlando Bocon Huziy). A Raspberry Pi running Ubuntu reads the LiDAR and builds a map of the environment, while an ESP32 running FreeRTOS drives the motors and reads the motion sensors. The resulting map can be saved at the end of the exploration.
My role
Developed the embedded system and the Raspberry Pi–ESP32 integration, programmed in Python and FreeRTOS, assembled the electronics and fabricated the chassis parts with 3D printing.
Deliverables and results
- →Indoor mapping with a 2D LiDAR, with map saving.
- →Two operating modes: autonomous and manual.
- →Architecture documented in a block diagram, from power supply to sensors.
Technical highlights
- ✓Raspberry Pi 4 running Ubuntu processes the LiDAR and builds the map.
- ✓ESP32 with FreeRTOS drives two motors through an H-bridge, with encoders and a gyroscope/accelerometer.
- ✓Battery power with a 12 V to 5 V step-down converter.
- ✓Chassis and mounts fabricated with 3D printing.
UbuntuPythonFreeRTOSRaspberry Pi 4ESP322D LiDARGyroscope and accelerometerEncodersH-bridge3D printing