Friday, 4th March, 2022 FACULTY MENTOR

Dr. Ruchika Lamba

Thapar Institute of
Dr. Swati Sondhi
engineering and technology

Capstone
Presentation
Development of a LIDAR assisted Autonomous Delivery
Bot
STUDENTS
Ananya Singh, 101905028
Akshit Sood, 101905044
Harshit, 101905045
Sajal Aggarwal, 101955003
Anubhav Kumar Singh, 101905079
 AIM

To design and develop independent

versatile robot model that can

convey packages securely to an

idea objective utilizing Light

Detection and Ranging (LIDAR)

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 PROBLEM STATEMENT

1) In recent times, modern technology is rising and demand for

autonomous delivery robots are going up progressively. Modern

home/offices needs intelligent systems with minimum human effort.

2) Coronavirus is able to survive on cardboard for about 24 hours and

on plastic for about 3 days, so touching both of them can be cause

of concern.

3) Contactless delivery is a new delivery technique that

gained popularity as a result of  social distancing legislation imposed

by the governments all over the world.

4) Real time data about the status of delivery can be seen on the

dashboard by the sender to make the whole system transparent.

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 NEED ANALYSIS

• This Lidar based delivery robot can promise contactless delivery, a highly sought-after service

under mandates of social distancing.

• The robots which are based on ultrasonic system are very inaccurate and the other LIDAR

sensors used in delivery robots has less angular resolution, shorter range and cannot detect

properly without direct sunlight. Compared to both of them RP LIDAR is a low-cost LIDAR sensor

that is suitable for indoor robotic SLAM applications.

• In most of the delivery robots after the package is delivered, no database regarding the details

of the package is maintained. In this model, all the real time data will be displayed on the

dashboard and the notification system will inform the sender and receiver about the successful
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delivery of the package.
OBJECTIVES

1. Simulation and hardware development of Lidar

assisted bot ensuring cyber security

2. Developing QR code notification system along

with Visual map of room using simultaneous
localization in ROS

3. Development of a dashboard for real time data

acquisition.

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DELIVERABLES

1) Software simulation of the autonomous bot

using localization techniques in ROS.

2) An autonomous delivery bot using path

planning and navigation techniques of LIDAR
sensor

3) Dashboard with real-time data acquisition using

AJAX

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 LITERATURE REVIEW

• Autonomous delivery robots (ADR) can help in improving the current home delivery system while also minimizing
the danger of virus transmission by avoiding direct human touch [1].

• According to the study, the last mile delivery is the least efficient stage of the supply chain, accounting for up to 28%
of overall delivery costs. New technologies and organizational techniques make it possible to handle last-mile
deliveries in metropolitan areas more efficiently [2].

• A new strategy to improve last-mile delivery efficiency presents a variety of autonomous delivery robots, with
land-based autonomous ground vehicles proving to be the most appropriate technology to handle the problem [3]
• Other research looked into ADR characteristics, as well as possible time and cost reductions. When compared to a
baseline delivery system that relies solely on a human driver, the results demonstrated that ADRs can save money,
time, and have potential to reduce CO2 emissions [4].

• In [5] an autonomous tour bot is built using 4 ultrasonic sensors. It uses QR code detection as navigational aid. A
Bluetooth technology is used to deliver information provided in the QR code to the tour bot.

• It is established that map generated using 2D LIDAR has better degree of precision as compared to map generated
using ultrasonic sensor data. The angular divergence of an ultrasonic sensor is 15 degrees, however when LIDAR is
employed, the divergence is less than 1 degree [6].

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 LITERATURE REVIEW

• In [7] the author explained the techniques of communication while using SIEMENS MC35 GSM module. It gave a brief
overview about AT commands and initialization of terminal equipment. The paper focused on the ways by which
one can implement SMS control. The modes discussed by the author are Block mode, text mode and PDU mode.

• A QR code is designed which has two storage levels, public and private, named it two-level QR code (2LQR). The
general level is identical to standard QR code thus, any QR code application can read it. There are white and black
modules in conventional QR codes, whereas, in 2LQR, there are textured modules instead of black. This replacement
causes a private level hidden to standard QR code readers [8].

• Since Localization and navigation are critical issues to mobile robotics, a method for localization and navigation for
a mobile robot in an enclosed environment is proposed. In this method, QR codes are used as landmarks. QR tags
strategically deployed across the working environment store label and location information. The positional link
between QR codes and the robot is used to estimate the robot's pose. A laser range finder (LRF) is used to ensure
collision-free navigation [9].

• In [10], the model of an autonomous office assistant bot in ROS is proposed, and for tracking the robot's pose, the
Adaptive Monte Carlo Localization (AMCL) method has been implemented. It has mainly three units, one that
processed the sensor data, the second helped in navigation by using different sensors and actuators, the third
helped in controlling the robot system.

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 LITERATURE REVIEW

• Compared accuracy between the measurements according to a map generated using simulation in RViz software
in ROS and the real-world measurements of a hospital block. The paper majorly focuses on building a robot that
moves around the hospital for various navigational tasks such as delivering vital medicines, vital sign tests, etc. The
article concluded the accuracy of about 97% compared to the actual dimensions [11].

• The main idea of this paper is to discuss autonomous mobile robots in intralogistics systems. This research paper
explains the evolution from automated guided vehicles to autonomous mobile robots. The paper majorly focuses
on identifying and providing guidance for the technological advances affecting the planning and control decisions
of the robot systems [12].

• The central theme on which the paper is based is meal delivery robot by integrating machine vision techniques
and Lidar sensor. It involves the ordering of food by users just by scanning a QR code, and then the server-based
interface enables the bot to deliver the food to the appropriate table number. The path is planned using the SLAM
algorithm for localization and mapping purposes [13].
• All acknowledged robot mapping algorithms are based on a probabilistic approach, and the advantage is it
accommodates sensor noise and represents the uncertainty of measurement and estimation process. Most
probabilistic models used to solve mapping problems are based on the Bayes rule. Kalman filters (KF) are one of
the most often used Bayes filter implementations [14].

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 LITERATURE REVIEW

• Since KF is applicable for linear systems, the nonlinearity problem is solved by Extended Kalman Filter (EKF). The
inconsistency issues and convergence properties of EKF based 2D SLAM solutions are being investigated, and most
of the convergence properties can be used to real-world nonlinear SLAM problems [15].

• Further various laser-based 2D Simultaneous Localization and Mapping (SLAM) algorithms available in the Robot
Operating System (ROS) and CPU load are also investigated. The estimated error for HectorSLAM in the MRL arena
for simulation experiments is 0.4563, and in real-world experiments, the mean is 0.9240. On evaluating CPU load, it is
concluded that HectorSLAM should be operated on hardware having a high rate of LRF [16].

• Further, three SLAM techniques: HectorSLAM, G mapping, KartoSLAM, were compared using a Bot that has a 2D 360°
LIDAR. The research also states that HectorSLAM is precise for indoor environments with the fastest speed among
the three techniques under investigation. HectorSLAM is based on scan matching and Extended Kalman Filter (EKF)
[17].
• In [18], the author investigates the potential of an embedded system such as Raspberry Pi for LIDAR-based
autonomous robots. The proposed system works without implementing computer vision techniques and uses only
the LIDAR sensor to avoid obstacles and work in low luminosity environments.

• Other research demonstrates indoor mapping mobile robots with the help of Raspberry Pi, RP LIDAR, and Arduino.
For constructing 2D maps of the environment, HectorSLAM is used. The visualization of the bot is shown on RViz, and
all the control commands and SLAM run on ROS and Raspberry Pi. The paper also explained the hardware
architecture and the kinematics of differential drive mobile robots [19].
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PROPOSED METHODOLOGY

INPUT SIDE OF THE BOT

• RPLIDAR sensor, Microcontroller, and

Raspberry Pi for computational tasks.

• Mobility of the bot is controlled using

DC motors through an Arduino UNO
via the commands sent from
Raspberry.

• Mapping is done by RPLIDAR sensor

and Hector SLAM algorithm via ROS.

• ROS (Robot Operating System) is a

framework that allows us to simulate
our bot in real world conditions.

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PROPOSED METHODOLOGY
OUTPUT SIDE OF THE ROBOT

• Data Acquisition system with the help of google

database.

• Real Time data display on a dashboard made

by using HTML, CSS and AJAX.

• Information about the timestamps, location of

bot is given to both, the sender and the
receiver of the package.

• The details of the delivery will be shared

through an email and SMS with the help of GSM
module.

• The GSM module helps to establish a

communication network between a mobile
phone and a GSM system.

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 RESEARCH GAPS

• Very few research articles are based on GSM module-based

data notification systems.

• Inadequate amount of research work on Google

Spreadsheets-based database.

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 REFERENCES

[1] V. Chamola, V. Hassija, V. Gupta and M. Guizani, "A Comprehensive Review of the COVID-19 Pandemic and the Role of IoT, Drones, AI, Blockchain, and 5G in Managing its
Impact", IEEE Access, vol. 8, pp. 90225-90265, 2020.

[2] L. Ranieri, S. Digiesi, B. Silvestri and M. Roccotelli, "A Review of Last Mile Logistics Innovations in an Externalities Cost Reduction Vision", Sustainability, vol. 10, no. 3, p.
782, 2018.

[3] G. Prause, I. Boevsky, "Delivery Robots for Smart Rural Development", Bulgarian Journal of Agricultural Economics and Management, vol. 63, no. 4, pp. 57-65, 2018.

[4] M. Figliozzi and D. Jennings, "Autonomous delivery robots and their potential impacts on urban freight energy consumption and emissions", Transportation Research Procedia,
vol. 46, pp. 21-28, 2020.

[5] S. Lee, J. Lim, G. Tewolde and J. Kwon, "Autonomous tour guide robot by using ultrasonic range sensors and QR code recognition in indoor environment", IEEE International
Conference on Electro/Information Technology, 2014.

[6] K. Nandakumar et al., "Autonomous Vehicle for Drug Delivery", IOP Conference Series: Materials Science and Engineering, vol. 995, no. 1, p. 012037, 2020.

[7] M. Yuchun, H. Yinghong, Z. Kun and L. Zhuang, "General Application Research on GSM Module", 2011 International Conference on Internet Computing and Information
Services, 2011.

[8] I. Tkachenko, W. Puech, C. Destruel, O. Strauss, J. Gaudin and C. Guichard, "Two-Level QR Code for Private Message Sharing and Document Authentication", IEEE
Transactions on Information Forensics and Security, vol. 11, no. 3, pp. 571-583, 2016.

[9] H. Zhang, C. Zhang, W. Yang and C. Chen, "Localization and navigation using QR code for mobile robot in indoor environment", 2015 IEEE International Conference on
Robotics and Biomimetics (ROBIO), 2015.

[10] S. Diddeniya, W. Wanniarachchi, P. De Silva and N. Ganegoda, "Efficient Office Assistant Robot System: Autonomous Navigation and Controlling Based on ROS",

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International Journal of Multidisciplinary Studies, vol. 6, no. 1, p. 64, 2019.
 REFERENCES

[11] S. Ramadhan, M. Taufik, D. Novita and A. Turnip, "Design of 2D LiDAR-based Indoor SLAM for Medical Robot Covid-19", 2021 International Conference on Artificial
Intelligence and Mechatronics Systems (AIMS), 2021.

[12] G. Fragapane, R. de Koster, F. Sgarbossa and J. Strandhagen, "Planning and control of autonomous mobile robots for intralogistics: Literature review and research agenda",
European Journal of Operational Research, vol. 294, no. 2, pp. 405-426, 2021.

[13] J. Bai, J. Cai, T. Zhou, J. Li, S. Gao and J. Bai, "Research on Key Technologies of Meal Delivery Robot Based on the fusion of Lidar and Machine Vision", 2021 7th
International Conference on Big Data and Information Analytics (BigDIA), 2021.

[14] S. Thrun, "Probabilistic robotics", Communications of the ACM, vol. 45, no. 3, pp. 52-57, 2002.

[15] S. Huang, G. Dissanayake, "Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM", IEEE Transactions on Robotics, vol. 23, no. 5, pp. 1036-1049,
2007.

[16] J. Santos, D. Portugal and R. Rocha, "An evaluation of 2D SLAM techniques available in Robot Operating System", 2013 IEEE International Symposium on Safety, Security,
and Rescue Robotics (SSRR), 2013.

[17] R. Joshi, D. Bhaiya, A. Purkayastha, S. Patil and A. Deshpande, "Simultaneous Navigator for Autonomous Identification and Localization Robot", 2021 IEEE Region 10
Symposium (TENSYMP), 2021.

[18] N. Baras, G. Nantzios, D. Ziouzios and M. Dasygenis, "Autonomous Obstacle Avoidance Vehicle Using LIDAR and an Embedded System", 2019 8th International Conference
on Modern Circuits and Systems Technologies (MOCAST), 2019.
[19] D. Son, M. Anh, D. Tu, L. Van Chuong, T. Cuong and H. Phuong, "The Practice of Mapping-based Navigation System for Indoor Robot with RPLIDAR and Raspberry Pi",
2021 International Conference on System Science and Engineering (ICSSE), 2021.

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Thank you !