Really. You want an answer to this complex and still highly researched topic within a forum? All I can say to this is: read the corresponding scientific publications. Afterwards write the robot controller software yourself.
You have to be a lot more specific so we can at least try to point you in the direction. Maybe you can lookup the internet. Here you might come up with some science platforms dealing with similar requirements your system would need to fullfill.
Just one example:
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Fubini
I want to achieve 3 things
1 The mobile waiter robot must be able to figure out the path that leads to customer table
2 it should be able to avoid static obstacles
3 it should be able to avoid dynamic obstacles
The whole thing would work in real time and path planning and obstacle avoidance would go side by side .