ODS-Bot: Mobile Robot Navigation for Outdoor Delivery Services

Autonomous mobile robots have been used in outdoor delivery services. Delivery to cope with dynamic obstacles and various environmental conditions. Although several successful technological solutions are available for indoor applications, there still plenty of unsolved problems environments. In this study, we concentrate on three challenges hindering the development campus robots. The first challenge is robust localization Localization results obtained using lidars Global Navigation Satellite System (GNSS) sensors show complementary advantages disadvantages. proposed strategy efficiently combines information from multiple sensors. second safe navigation based detection traversable region. presented terrain traversability analysis provides clear, real-time positive negative obstacle information. third requirement an effective path planning reduce risk collisions or deadlocks. We collected appearance history regional map. resultant was carefully generated avoid crowded areas. Experimental verifications successfully conducted Korea University campus. clearly indicate that methods essential achieve reliable dynamic, real-world