Navigation Architecture for Autonomous Surveillance Rover

Abstract

The paper proposes Navigation Architecture for Autonomous mobile robot navigating, exploring and avoiding obstacles in both outdoor and indoor environment. Mobile robot systems have recently been used in fields as diverse as rescue, surveillance and medicine. We bring into consideration the need of having navigation architecture for safe path planning with an emphasis on exploration. In this article by Exploration we specially mean surveillance. While the autonomous robot explores an either indoor or an outdoor environment it come across many human being present. Our unique architecture not only avoids them while navigating but also detect faces and stores the various faces that it comes across.Our algorithm is described in two steps. Motion model gives emphasis to obstacle avoidance at different speeds while exploration model gives emphasis to detection of human faces while moving at a safe speed following a safe trajectory. The algorithm has been successfully tested on Lakshya- an UGV‡ platform in both outdoor and indoor condition.