Before designing any robotic system, the first procedure is to identify the requirements of the system. The following are the set of robot design requirements to be met by this robot. This includes hardware and software requirements:

• The robot should have a provision to carry food
• The robot should carry a maximum payload of 2 kg
• The robot should move at a speed between 0.25 m/s and 0.35 m/s
• The ground clearance of the robot should be greater than 3 cm
• The robot has to work for 2 hours continuously
• The robot should be able to move and supply food to any table, avoiding obstacles
• The robot height can be between 80 cm and 100 cm.
• The robot should be of low cost (less than 500 USD)

Now we have the design requirements, such as payload, speed, ground clearance, robot height, cost of the robot, and the capabilities to be implemented in the robot, we...