Makers from Elektor TV have developed a 2D lidar-controlled autonomous vehicle using the Arduino ESP32 and Bluetooth.
Using the lidar, the autonomous vehicle can find its way around a room without bumping into objects. Elektor TV used the X4 lidar from Ydlidar and the Dabble Bluetooth.
Additionally, the system uses the motor driver library ESP32 MotorControl that does not use ledc but instead uses the real motor driver peripheral built into the ESP32. The motors are controlled via the ESP32 Pico kit controlled over Bluetooth using a smartphone. The lidar data is processed by the ESP32 and used to steer the vehicle in the direction of the greatest distance.
In the video, makers show how they developed the lidar with the Arduino and then integrated it into the vehicle, which is a simple design with two motorized wheels in the center and two stand-offs on either end for remaining balance. This makes the vehicle very agile.
Learn how to build your own at Github.