An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants

Abstract

To lessen the spread of COVID-19 and other dangerous bacteria and viruses, contactless distribution of different items has gained widespread popularity. In order to complete delivery tasks at a catering facility, this paper explores the development of an autonomous mobile robot. The robot, in particular, plans its path and maintains smooth and flexible mobility using a Time Elastic Band (TEB) motion control method and an upgraded Dijkstra algorithm. On the open-source AI platform of iFLYTEK, a voice recognition module was trained to recognize voice signals of different tones and loudness, and an image recognition capability was attained using YOLOv4 and SIFT. The UCAR intelligent vehicle platform, made available by iFLYTEK, served as the foundation for the development of the mobile robot system. The robot took part in China’s 16th National University Student Intelligent Car Race, an experimental demonstration test of the developed mobile robotics. The results of the experiments and task tests demonstrated that the proposed robot architecture was workable. In addition, we designed and put together a mobile robot utilizing components from the Taobao website. Compared to UCAR, this robot is less expensive and has the flexibility to be used in a variety of real-world settings.

Keywords

• autonomous mobile robot
• UCAR
• robot operating system
• contactless distribution
• smart restaurant