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I am doing my engineering capstone project that involves hexacopter which its main application involve operating indoors. Obviously, this increases the difficulty of controlling it without having GPS. One of the solutions would be developing a program that involves some type of auto-guiding feature using the data from the 2D Lidar or RP LiDAR.

For instance, flying the is down a hallway and having it maintain it in the center of the hallway as it flies forward or backward.

Another feature would be where it flies into a room and scans to determine where the general center location would be located.

Any thoughts, idea, or resources to help with the programming portion of it. We are utilizing a Raspberry Pi 3 and SLAMTEC RP LIDAR A3.

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closed as primarily opinion-based by Chuck Jan 15 at 13:42

Many good questions generate some degree of opinion based on expert experience, but answers to this question will tend to be almost entirely based on opinions, rather than facts, references, or specific expertise. If this question can be reworded to fit the rules in the help center, please edit the question.

  • $\begingroup$ Welcome to Robotics Amelia Zwiener, but I'm afraid that Unbounded Design Questions are off-topic because there are many ways to solve any given design problem. We prefer practical, answerable questions based on actual problems that you face, so questions which ask for a list of approaches or a subjective recommendation on a method (for how to build something, how to accomplish something, what something is capable of, etc.) are off-topic. Please take a look at How to Ask & tour for more information on how stack exchange works. $\endgroup$ – Chuck Jan 15 at 13:19
  • $\begingroup$ If you know the arrangement of the lidar, then you should be able to determine which scans are diametrically opposed. The narrowest distance should be the hall (assuming no obstructions), and you could use that as an input. You could build a map with SLAM (this is probably what you want). You could measure the halls in advance and do "dumb" fencing that just steers a fixed distance away from anything. As kolosy states you could use an entirely different sensor package. $\endgroup$ – Chuck Jan 15 at 13:24
  • $\begingroup$ There's nothing wrong with asking advice, but this isn't a forum - it's a question and answer site. If you're looking for a discussion on your design problem then please join us in Robotics Chat when you have enough reputation. If you get further along with your project and have a specific, answerable question, please bring that question and any others like it here! As it stands, though, this is more polling for advice than something that has a definite answer. $\endgroup$ – Chuck Jan 15 at 13:42
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Do you need the resolution that LIDAR provides, or is it simple obstacle avoidance? I'd imagine that thing is going to be difficult to mount on a drone due to size, power and computational requirements. Something simpler, like ultrasonic sensors may work better.

Alternatively, you can take a look at other indoor positioning systems, such as this one.

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