Robot giao đồ trong nhà dùng SLAM dựa trên LiDAR (LiDAR-based SLAM for indoor delivery robot)
This paper proposes the development of an indoor delivery robot system based on LiDAR-based Simultaneous Localization and Mapping (SLAM) technology. The primary objective is to design a reliable and cost-effective robotic platform capable of autonomous navigation in structured indoor environments such as offices, hospitals, and warehouses. By leveraging LiDAR sensors, the robot can accurately perceive its surroundings, construct real-time maps, and localize itself without relying on pre-installed infrastructure such as markers or GPS signals.
The proposed system integrates a 2D LiDAR sensor, an onboard computing unit, and a differential-drive mobile base. SLAM algorithms are employed to generate occupancy grid maps and estimate the robot’s pose in real time. Path planning and obstacle avoidance modules are incorporated to ensure safe and efficient navigation, even in dynamic environments with moving obstacles such as humans. Additionally, the system supports task scheduling and destination assignment, enabling autonomous delivery between predefined locations.
This research also focuses on evaluating the performance of different LiDAR-based SLAM algorithms in indoor conditions, considering factors such as accuracy, computational efficiency, and robustness in feature-scarce environments like long corridors. Simulation experiments using platforms such as ROS2 and Gazebo, followed by real-world implementation, are conducted to validate the effectiveness of the proposed approach.
The expected outcome is a functional prototype of an indoor delivery robot that demonstrates reliable navigation, accurate mapping, and practical applicability in real-world scenarios. This work contributes to the advancement of service robotics and provides a foundation for future research in intelligent autonomous systems and smart logistics.
Tham khảo báo cáo DATN 2022
https://drive.google.com/drive/folders/145jA0Yz4Uhpct19S_caqs43ernaK82Or?usp=sharing
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Thay đổi của đồ án hiện tại:
Chạy SLAM trên máy tính mini, Máy tính mini NUC 12 Pro (Wall Street Canyon) nổi bật với vi xử lý Intel Core thế hệ 12 (i3-1220P, i5-1240P, i7-1260P), đồ họa Intel Iris Xe mạnh mẽ, hỗ trợ RAM DDR4-3200 (tối đa 64GB) và SSD NVMe Gen4. Máy nhỏ gọn (117 x 112 x 54 mm), tích hợp Wi-Fi 6E, Bluetooth 5.2, Thunderbolt 4 và hỗ trợ xuất 4 màn hình 4K
Cho tốc độ nhanh, mượt hơn.
Tích hợp chat GPT AI để điều hướng robot bằng giọng nói chính xác hiệu quả hơn.
Báo cáo tiến độ nộp vào folder, tra cứu tài liệu thiết kế solid work, file báo cáo cũng theo folder này:
https://arxiv.org/abs/2501.09490
https://arxiv.org/pdf/2311.00276
