R2-WAITER — Autonomous Service Robot

Autonomous waiter robot for restaurants — B.Sc. Final Year Project in Mechatronics Engineering at MUST, Spring 2024.

• Designed and built an autonomous restaurant service robot on ROS1, integrating LIDAR (A1 M8) and Intel RealSense D435i depth-camera data for real-time 3D mapping, localization, and obstacle avoidance.
• Implemented SLAM with gmapping and slam_toolbox, plus Kalman Filter and Extended Kalman Filter sensor-fusion pipelines for robust pose estimation in dynamic environments.
• Built the navigation stack with Move_base, AMCL, and a combined DWA plus model-free adaptive-control approach for path planning and obstacle avoidance in tight restaurant aisles.
• Developed a layered driver, control-core, and application architecture on an NVIDIA Jetson Nano for hardware interfacing, mapping, localization, navigation, and human-robot interaction.
• Designed a customer-facing tablet and mobile web application with a ROS-bridge/WebSocket backend for order placement, table tracking through RF beacons, and secure per-customer order locking.
• Built a Python/PyQt5 and HTML/CSS/JavaScript interactive robot-face interface driven by live ROS topic data to reflect robot state and movement.
• Contributed to electrical and mechanical subsystems, including Eagle PCB and control-circuit design, motor sizing, battery-capacity calculations, and the mechanical structure for a six-person team project.