Autonomous Vehicle Based on ROS2 for Indoor Package Delivery

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.