Autonomous delivery system for hospitals and hotels

Abstract

• Implementation of a prototype of a delivery robot using ROS (Robot Operating System) framework that autonomously maps unknown territories and can navigate to a provided destination. • Algorithms like Hector SLAM and AMCL are integrated for mapping and pose identification of the mobile robot, and the Dynamic-Window Approach (DWA) Planner helps calculate the shortest path in the space available for movement. • Development of a web interface that can be used to access the various functionalities present in the robot • Implementation of differential drive odometry. • A modified RRT (Rapidly-Exploring Random Tree) implementation helps in the autonomous mapping procedure, which has been tested virtually. • Updated the hardware pipeline by removing a micro-controller to reduce the risk of communication breakdown between the devices. • The work is demonstrated in a physical lab space.