Practical Robotics. C++ and Raspberry Pi

This discusses the technology of creating autonomous robots based on the single-board computer Raspberry Pi and the development of programs for them in C++. The principles of writing are demonstrated, and code examples for the motor drive controller are provided, showcasing methods for using sensors to detect obstacles and map creation based on lidar data. Methods for developing custom autonomous trajectory planning algorithms are described, along with code for automatically sending waypoints to the drive controller. C++ libraries for writing mapping and navigation programs for autonomous robots are considered, and information is provided about using the Raspberry Pi GPIO hardware interface contacts. An electronic archive on the publisher's website contains the code for the programs described in the book.