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Autonomous

Lidar and

Vision based

Navigator

Welcome to the project page for ALVN
A Final Year Project for the Software Developement Course in SETU Carlow

By Ciaran Maye

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Research Report

The initial ideas, research and goals of this project

Functional Specification

An outline of the functional goals of this project

Design Manual

An outline of the design and architecture of this project

Technical Manual

A complete copy of the code for this project

Final Report

A report containing the conclusions, reflections and final thoughts for this project

About ALVN

ALVN was developed as a final year project for the SETU Software Development course. It is a system for a vehicle to autonomously avoid obstacles detect and navigate a guideline, using image processing and LiDAR spatial mapping.

How it Works

ALVN uses a Raspberry Pi and a Sunfounder PiCar-V kit, equipped with a Slamtec RPLidar A2M8 sensor. The system is programmed using Python and uses the Sunfounder PiCar-V SDK and RPLidar python library to interface with the hardware components.

  • Obstacle Avoidance

    ALVN features an obstacle avoidance system that uses LiDAR spatial mapping to detect and avoid obstacles in the vehicle's path.

  • Path Following and Lane Following

    The ALVN system offers two modes for navigation. Path Following mode allows the vehicle to follow a single line and maintain its position as close as possible to it. Lane Following mode is designed for the vehicle to travel forward and maintain its position between two lane lines.