Robot Autonomous Navigation Pipeline

LiDAR Scan → Occupancy Grid → A* Path → PID Control → Movement

Step 1
LiDAR Scan
→
Step 2
A* Path
→
Step 3
PID Follow
1
LiDAR Scan → Occupancy Grid

The robot emits LiDAR beams in all directions. Hits on obstacles build an occupancy grid map. Choose an environment preset or randomize.

Free
Obstacle
Robot
Goal
LiDAR beam
↓ Occupancy grid feeds into path planning
2
A* Pathfinding

A* searches the occupancy grid from robot to goal. Blue cells show the explored frontier; yellow shows the optimal path found.

↓ Path waypoints feed into PID controller
3
PID Controller → Robot Follows Path

A PID controller steers the robot along the planned path. Watch it correct for heading errors and navigate to the goal.