Design and Implementation of Home Service Robot

With the aging problem in modern society getting severe, the demand for intelligent housekeepers is rapidly increasing. In this paper, we design and implement a home service robot. On the basis of Robot Operating System (ROS), the robot is equipped with 2D LiDAR and RGB camera for perception, which enables the particle filter based Simultaneous Localization and Mapping (SLAM), A-star algorithm based path planning, Adaptive Monte Carlo Localization based navigation, and MobileNet-SSD based object detection. Results of empirical experiments demonstrate its capability to establish environment map, perform accurate positioning, and navigate through obstacles without collision, showing its features such as low-cost, intelligence, modularity, etc.