Today, we connect Ydlidar to the horse robot. What I did is in angle scope from -30 degrees to 30 degrees, if objects are detected within 1 meter the function will return False, otherwise return True. I tested with the robots, and it worked well. Current lidar detects distance from every single angle. However, I have to revised the code to skip the section if the section already detect objects within boundaries. The following video is test with the horse robot whether it could change the direction if the object comes up within 1 meter. Code Link Here 2019.11.14 How to connect horse robot with YDlidar? 더보기