Project Overview

This project encompasses several fundamental modules:

• astar.py: This module implements the A* algorithm for pathfinding.
• lidar.py: Python script for retrieving lidar data.
• obstacle_detection.py: code for detecting obstacles.
• basic.py: Module for basic movement functionalities.
• location.py: Module for robot localization in 3D space.

Module Descriptions

astar.py

The astar.py file contains the implementation of the A* algorithm, which is commonly used for path planning in various applications.

Interface:

• find_path(start, goal, grid): Finds the optimal path from start to goal on the given grid.

lidar.py

The lidar.py file serves as a Python script to acquire lidar data. It is tailored to work with the LDS-01 lidar sensor to retrieve real-time distance measurements.

Interface:

• get_lidar_data(): Retrieves lidar data from the sensor.
• get_distance(): Retrieves obstacle distance from the sensor.
• map(): map the lidar data.

obstacle_detection.py

The obstacle_detection.py module consists of straightforward code for detecting obstacles. It relies on lidar sensor data but does not incorporate advanced path planning or obstacle avoidance features.

Interface:

• detect_obstacles(data): Detects obstacles in lidar data and returns their positions.

basic.py

The basic.py module provides basic movement functionalities for a robot.

Interface:

• move_forward(distance): Moves the robot forward by the specified distance.
• turn(angle): Turns the robot by the specified angle.

location.py

The location.py module implements robot localization in 3D space using linear acceleration and angular velocity data.

Interface:

• update_position(linear_acceleration, angular_velocity, dt): Updates the position of the robot based on linear acceleration and angular velocity data.

Usage

Each module is designed to be used independently. Refer to the comments within each file for detailed usage instructions.