This is a video of a DIY Lidar robot I have made. It is using a spinning laser distance sensor (Xiaomi robot vacuum spare part) to drive around and avoid obstacles. The sensor is connected to a Raspberry Pi running a Python script that is the main behavior program. There is no mapping going on, the robot is just going forward and turning away from things that are to close. The Raspberry Pi then sends serial data to an Arduino that controls stepper motors driving the robot.

My website: http://axelsdiy.brinkeby.se/