Development of a ROS-based Architecture for Intelligent Autonomous on Demand Last Mile Delivery

Georg Novtony; Walter Morales-Alvarez; Nikita Smirnov; Cristina Olaverri-Monreal

doi:10.1007/978-3-031-25312-6_39

Development of a ROS-based Architecture for Intelligent Autonomous on Demand Last Mile Delivery

Robotics 2023-05-30 v1

Authors: Georg Novtony , Walter Morales-Alvarez , Nikita Smirnov , Cristina Olaverri-Monreal

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Abstract

This paper presents the development of the JKU-ITS Last Mile Delivery Robot. The proposed approach utilizes a combination of one 3D LIDAR, RGB-D camera, IMU and GPS sensor on top of a mobile robot slope mower. An embedded computer, running ROS1, is utilized to process the sensor data streams to enable 2D and 3D Simultaneous Localization and Mapping, 2D localization and object detection using a convolutional neural network.

Keywords

ros last mile delivery autonomous robot lidar slam object detection convolutional neural network

Cite

@article{arxiv.2305.18276,
  title  = {Development of a ROS-based Architecture for Intelligent Autonomous on Demand Last Mile Delivery},
  author = {Georg Novtony and Walter Morales-Alvarez and Nikita Smirnov and Cristina Olaverri-Monreal},
  journal= {arXiv preprint arXiv:2305.18276},
  year   = {2023}
}

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