Autonomous Delivery Robot

Project Overview

Last-mile delivery is expensive. Autonomous robots can reduce costs by 70% while providing contactless delivery.

Chassis & Motors

• 6-Wheel Differential Drive: Stable platform
• NEMA 17 Steppers: Precise control
• TB6600 Drivers: Motor control
• 24V Li-ion Battery: 10Ah capacity
• Aluminum Frame: Lightweight & sturdy

Sensors Array

Sensor	Purpose	Range
LiDAR (RPLidar)	360° mapping	12m
Ultrasonic x4	Close obstacle	4m
Camera	Visual navigation	10m
GPS (RTK)	Precise location	±2cm
IMU	Orientation	-
Wheel Encoders	Odometry	-

Navigation System

# ROS2 Navigation Stack
from nav2_simple_commander.robot_navigator import BasicNavigator

navigator = BasicNavigator()

# Set initial pose
initial_pose = PoseStamped()
initial_pose.header.frame_id = 'map'
initial_pose.pose.position.x = 0.0
initial_pose.pose.position.y = 0.0

# Set goal
goal_pose = PoseStamped()
goal_pose.header.frame_id = 'map'
goal_pose.pose.position.x = 10.0
goal_pose.pose.position.y = 5.0

navigator.goToPose(goal_pose)

Obstacle Avoidance

void avoidObstacle() {
  float frontDistance = readLidar(0); // Front reading
  
  if (frontDistance < 0.5) {
    // Obstacle detected
    stopMotors();
    
    // Scan left and right
    float left = readLidar(270);
    float right = readLidar(90);
    
    // Turn towards clear path
    if (left > right) {
      turnLeft();
    } else {
      turnRight();
    }
  }
}

Remote Monitoring

4G/LTE connectivity for real-time monitoring:

• Live camera feed
• Battery status
• Current location
• Delivery status
• Remote takeover capability