<div dir="ltr">Instructables sometimes drops a "pearl before swine" article that is well worth the read. Author GregF10 has written a series of four Instructables that describe an indoor rover using a Rpi and Pololu A-star 32U4 microcontroller. Main sensors are an IMU (mostly gyro) and a LidarLite v3. The articles are organized by:overview, locomotion, localization, and navigation. <div><br></div><div>The navigation article has a  really interesting discussion about the use of the LiDAR sensor. The articles are well written and worth your time to investigate.</div><div><br></div><div>Regards,</div><div>Doug P.</div><div><br></div><div><b>Links:</b></div><div><a href="https://www.instructables.com/id/Autonomous-Rover-Part-1/">https://www.instructables.com/id/Autonomous-Rover-Part-1/</a><br><a href="https://www.instructables.com/id/Autonomous-Rover-Part-2-Locomotion/">https://www.instructables.com/id/Autonomous-Rover-Part-2-Locomotion/</a><br><a href="https://www.instructables.com/id/Autonomous-Rover-Part-3-Localization/">https://www.instructables.com/id/Autonomous-Rover-Part-3-Localization/</a><br><a href="https://www.instructables.com/id/Autonomous-Rover-Part-4-Navigation/">https://www.instructables.com/id/Autonomous-Rover-Part-4-Navigation/</a><br></div></div>