Localization-based waiter robot for dynamic environment using Internet of Things

In response to the growing demand for robotic service providers in the hospitality industry, this work presents a cost-effective IoT-based waiter robot designed to enhance customer experiences and restaurant efficiency. Leveraging an rplidar sensor and encoded DC motors for mapping and navigation, this robot distinguishes itself by its ability to carry heavier loads and navigate to designated tables. Using an herbal lidar map in the Robot Operating System (ROS), the robot efficiently plans paths and navigates within the restaurant environment. The sensor's 360-degree rotation captures environmental data, generating sequential data points for mapping. Through adaptive Monte Carlo localization in ROS, the robot demonstrates autonomous operation and successful route planning. Initial testing confirms its ability to autonomously locate and reach target tables, marking a promising advancement in service robotics.