Resumen

This thesis report is the product of a degree project to obtain the degree of electronic engineer. It presents the development of a 3D reconstruction system using a 2D LiDAR sensor and two actuators. The document describes a process of characterization of the devices, modeling of the mechanical layer, electronic design and design and implementation of software using the ROS platform. With the help of the kinematic model it is possible to obtain a transformation matrix that, after being experimentally calibrated, gives rise to a cloud of three-dimensional points. It was obtained a system with two degrees of freedom of low cost applicable in a high range of Hokuyo 2D. In addition, artificial intelligence is essential for solving problems or in the field of research.