ETD

• delivery robots
• mobile robots
• outdoor navigation
• sidewalk mobile robots

Growth of home delivery service in last few years is leading to the introduction of last mile delivery robots, not only for economical reasons but also for reducing environmental impact.
A further boost was given by the spread of Covid-19 pandemic which caused the need to avoid human contact.
Multiple technologies can be used to implement autonomous delivery robots such as drones or autonomous vehicles. In this work the task of developing a sidewalk mobile robot is taken under consideration. This thesis main focus is on the implementation of a navigation system suitable for sidewalk scenarios. Many sensors are available to the robot for this purpose. Information on sidewalks that provide required details for robots to navigate over pavements are not available in current mapping systems, that are designed for cars. Therefore a real time sidewalk detection system based on 3D camera was developed to generate a trajectory to navigate towards the goal, considering and avoiding obstacles.