A TeraRanger One Based LiDAR

In this paper, a LiDAR (Light Detection and Ranging) device is proposed. The purpose was to create a low-cost, high-quality LiDAR, which can be used by robotics projects. It is based on the TeraRanger One distance measurement sensor, which can read distances up to 14 meters with a 1 KHz frequency. The sensor is rotated 360 degrees with a stepper motor and the distance to the surrounding objects is measured after each motor step. The device is controlled by an Arduino Nano board, which sends the readings through serial port.