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.
