Design and manufacturing of a low-cost 2-DOF autonomous sentry gun

Abstract

In this paper, design and development of a self-sufficient sentry robotic gun is presented. Professional robotic assemblies which are generally developed for security purposes are targeted toward high efficiency and are based on extensive control algorithms. This makes them quite expensive and infeasible for low budget applications. One important component of such systems is that of motion detection. Motion detection also plays a key role in security applications installed at banks, offices and vulnerable areas. An efficient motion detection system has been developed using embedded micro-controller and MATLAB interface. The proposed system can also be set into an autonomous mode of operation, in which the system tracks and engages targets without any human intervention. Aside from autonomous mode, there is also a manual over-ride mode. The hardware employed in the proposed system is based on easily accessible materials. Motion detection and image processing was implemented using MATLAB image processing toolbox and periodic background estimation subtraction was used for the detection of motion.