A Preliminary Study of a ROS-Based Delivery Robot for Restaurant Navigation

DOI

10.2991/978-94-6463-926-1_81How to use a DOI?

Keywords

Restaurant Navigation; Robot Operating System (ROS); SLAM

Abstract

Service robots are increasingly being developed for hospitality environments, including restaurants. This preliminary study investigates the development of a ROS-based autonomous delivery robot capable of navigating indoor restaurant layouts to deliver food efficiently and safely. The robot system integrates hardware and software components, including an LiDAR sensor, microcontroller, motor drivers, mecanum wheels, and a laptop running the Robot Operating System (ROS). SLAM (Simultaneous Localization and Mapping) is implemented to generate real-time maps and determine robot position. The ROS Navigation Stack is used for path planning and obstacle avoidance. Communication between ROS and ESP32 is managed via ROS Serial protocol, handling motion commands and encoder feedback. Performance testing was conducted in a simulated restaurant layout under various delivery routes and payload scenarios. The results show that increasing payload significantly raises power consumption and shortens operational time, from 10 h without load to 3.7 h with a 4 kg payload. Despite this, the robot demonstrates stable performance with low standard deviation. SLAM mapping effectively represents room layouts, though minor inaccuracies arise from sensor noise and signal reflections. The navigation system completes various routes successfully, with some travel time variation due to route complexity, wheel slippage, and map instability.

Copyright

© 2025 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - I Nyoman Kusuma Wardana
AU  - I Kadek Widya Putra
AU  - Ida Bagus Irawan Purnama
AU  - I Komang Agus Ady Aryanto
AU  - I Ketut Swardika
AU  - Putri Alit Widyastuti Santiary
PY  - 2025
DA  - 2025/12/31
TI  - A Preliminary Study of a ROS-Based Delivery Robot for Restaurant Navigation
BT  - Proceedings of the International Conference on Applied Science and Technology on Engineering Science 2025 (iCAST-ES 2025)
PB  - Atlantis Press
SP  - 725
EP  - 733
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-926-1_81
DO  - 10.2991/978-94-6463-926-1_81
ID  - Wardana2025
ER  -