Autonomous Vehicle Based on ROS2 for Indoor Package Delivery

Yuxiang Liu; Yangzesheng Lu; Cheng Peng; Qinglei Bu; Yung C. Liang; Jie Sun

doi:10.1109/ICAC57885.2023.10275227

Autonomous Vehicle Based on ROS2 for Indoor Package Delivery

Yuxiang Liu, Yangzesheng Lu, Cheng Peng, Qinglei Bu^*, Yung C. Liang, Jie Sun

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

With the growing demand for logistics transportation, autonomous vehicles are receiving more attention due to their flexibility, efficiency, and reliability. This paper presents the design and implementation of a low-cost flexible vehicle with autonomy for package transportation. The vehicle can sense the unknown environment with a set of low-cost sensors, including LiDAR, cameras, odometer and IMU. After comparing and processing different types of sensed data, sensor fusion was achieved with the help of integrated algorithms such as Navigation2 and Cartographer based on the ROS2 operation system. Finally, simultaneous localization, mapping, and navigation can be realized for both indoor and outdoor environments.

Original language	English
Title of host publication	ICAC 2023 - 28th International Conference on Automation and Computing
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350335859
DOIs	https://doi.org/10.1109/ICAC57885.2023.10275227
Publication status	Published - 2023
Event	28th International Conference on Automation and Computing, ICAC 2023 - Birmingham, United Kingdom Duration: 30 Aug 2023 → 1 Sept 2023

Publication series

Name	ICAC 2023 - 28th International Conference on Automation and Computing

Conference

Conference	28th International Conference on Automation and Computing, ICAC 2023
Country/Territory	United Kingdom
City	Birmingham
Period	30/08/23 → 1/09/23

Keywords

Autonomous Robot
ROS2
sensor fusion
SLAM

Access to Document

10.1109/ICAC57885.2023.10275227

Cite this

Liu, Y., Lu, Y., Peng, C., Bu, Q., Liang, Y. C., & Sun, J. (2023). Autonomous Vehicle Based on ROS2 for Indoor Package Delivery. In ICAC 2023 - 28th International Conference on Automation and Computing (ICAC 2023 - 28th International Conference on Automation and Computing). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAC57885.2023.10275227

@inproceedings{bb303cae9534451b8cff6dced20ac3e7,

title = "Autonomous Vehicle Based on ROS2 for Indoor Package Delivery",

abstract = "With the growing demand for logistics transportation, autonomous vehicles are receiving more attention due to their flexibility, efficiency, and reliability. This paper presents the design and implementation of a low-cost flexible vehicle with autonomy for package transportation. The vehicle can sense the unknown environment with a set of low-cost sensors, including LiDAR, cameras, odometer and IMU. After comparing and processing different types of sensed data, sensor fusion was achieved with the help of integrated algorithms such as Navigation2 and Cartographer based on the ROS2 operation system. Finally, simultaneous localization, mapping, and navigation can be realized for both indoor and outdoor environments.",

keywords = "Autonomous Robot, ROS2, sensor fusion, SLAM",

author = "Yuxiang Liu and Yangzesheng Lu and Cheng Peng and Qinglei Bu and Liang, {Yung C.} and Jie Sun",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 28th International Conference on Automation and Computing, ICAC 2023 ; Conference date: 30-08-2023 Through 01-09-2023",

year = "2023",

doi = "10.1109/ICAC57885.2023.10275227",

language = "English",

series = "ICAC 2023 - 28th International Conference on Automation and Computing",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "ICAC 2023 - 28th International Conference on Automation and Computing",

}

Liu, Y, Lu, Y, Peng, C, Bu, Q, Liang, YC & Sun, J 2023, Autonomous Vehicle Based on ROS2 for Indoor Package Delivery. in ICAC 2023 - 28th International Conference on Automation and Computing. ICAC 2023 - 28th International Conference on Automation and Computing, Institute of Electrical and Electronics Engineers Inc., 28th International Conference on Automation and Computing, ICAC 2023, Birmingham, United Kingdom, 30/08/23. https://doi.org/10.1109/ICAC57885.2023.10275227

Autonomous Vehicle Based on ROS2 for Indoor Package Delivery. / Liu, Yuxiang; Lu, Yangzesheng; Peng, Cheng et al.
ICAC 2023 - 28th International Conference on Automation and Computing. Institute of Electrical and Electronics Engineers Inc., 2023. (ICAC 2023 - 28th International Conference on Automation and Computing).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Autonomous Vehicle Based on ROS2 for Indoor Package Delivery

AU - Liu, Yuxiang

AU - Lu, Yangzesheng

AU - Peng, Cheng

AU - Bu, Qinglei

AU - Liang, Yung C.

AU - Sun, Jie

PY - 2023

Y1 - 2023

N2 - With the growing demand for logistics transportation, autonomous vehicles are receiving more attention due to their flexibility, efficiency, and reliability. This paper presents the design and implementation of a low-cost flexible vehicle with autonomy for package transportation. The vehicle can sense the unknown environment with a set of low-cost sensors, including LiDAR, cameras, odometer and IMU. After comparing and processing different types of sensed data, sensor fusion was achieved with the help of integrated algorithms such as Navigation2 and Cartographer based on the ROS2 operation system. Finally, simultaneous localization, mapping, and navigation can be realized for both indoor and outdoor environments.

AB - With the growing demand for logistics transportation, autonomous vehicles are receiving more attention due to their flexibility, efficiency, and reliability. This paper presents the design and implementation of a low-cost flexible vehicle with autonomy for package transportation. The vehicle can sense the unknown environment with a set of low-cost sensors, including LiDAR, cameras, odometer and IMU. After comparing and processing different types of sensed data, sensor fusion was achieved with the help of integrated algorithms such as Navigation2 and Cartographer based on the ROS2 operation system. Finally, simultaneous localization, mapping, and navigation can be realized for both indoor and outdoor environments.

KW - Autonomous Robot

KW - ROS2

KW - sensor fusion

KW - SLAM

UR - http://www.scopus.com/inward/record.url?scp=85175536930&partnerID=8YFLogxK

U2 - 10.1109/ICAC57885.2023.10275227

DO - 10.1109/ICAC57885.2023.10275227

M3 - Conference Proceeding

AN - SCOPUS:85175536930

T3 - ICAC 2023 - 28th International Conference on Automation and Computing

BT - ICAC 2023 - 28th International Conference on Automation and Computing

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 28th International Conference on Automation and Computing, ICAC 2023

Y2 - 30 August 2023 through 1 September 2023

ER -

Autonomous Vehicle Based on ROS2 for Indoor Package Delivery

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