A Unified AI, Embedded, Simulation, and Mechanical Design Approach to an Autonomous Delivery Robot

摘要

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.