自律配送ロボットのためのAI・組込み・シミュレーション・機械設計の統合アプローチ
A Unified AI, Embedded, Simulation, and Mechanical Design Approach to an Autonomous Delivery Robot
RPi 5とROS 2でAI認識・経路計画、ESP32でリアルタイムモータ制御を行う異種計算アーキテクチャを採用し、機械設計から組込みまで統合した自律配送ロボットを開発した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Amro Gamar, Ahmed Abduljalil, Alargam Mohammed, Ali Elhenidy, Abeer Tawakol
分類: cs.RO, cs.AI
原文アブストラクト
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2 handling AI-based perception and path planning, while ESP32 running FreeRTOS ensures real-time motor control. The mechanical design was optimized for payload capacity and mobility through precise motor selection and material engineering. Key technical challenges addressed include optimizing computationally intensive AI algorithms on a resource-constrained platform and implementing a low-latency, reliable communication link between the ROS 2 host and embedded controller. Results demonstrate deterministic, PID-based motor control through rigorous memory and task management, and enhanced system reliability via AWS IoT monitoring and a firmware-level motor shutdown failsafe. This work highlights a unified, multi-disciplinary methodology, resulting in a robust and operational autonomous delivery system capable of real-world deployment.
