  Alpha N A self-powered, wheel driven Automated Delivery Robot is presented in
this paper. The ADR is capable of navigating autonomously by detecting and
avoiding objects or obstacles in its path. It uses a vector map of the path and
calculates the shortest path by Grid Count Method of Dijkstra Algorithm.
Landmark determination with Radio Frequency Identification tags are placed in
the path for identification and verification of source and destination, and
also for the recalibration of the current position. On the other hand, an
Object Detection Module is built by Faster RCNN with VGGNet16 architecture for
supporting path planning by detecting and recognizing obstacles. The Path
Planning System is combined with the output of the GCM, the RFID Reading System
and also by the binary results of ODM. This PPS requires a minimum speed of 200
RPM and 75 seconds duration for the robot to successfully relocate its position
by reading an RFID tag. In the result analysis phase, the ODM exhibits an
accuracy of 83.75 percent, RRS shows 92.3 percent accuracy and the PPS
maintains an accuracy of 85.3 percent. Stacking all these 3 modules, the ADR is
built, tested and validated which shows significant improvement in terms of
performance and usability comparing with other service robots.
