An autonomous mobile robot for indoor security patrol

摘要

With rapidly changing of technology, there are more and more robotic applications in household security. Security patrol with human in charge is high labor cost as well as shortage of human resource. Mobile robot can solve some of these problems but it faced difficulties of uncertainties in sensor system, unstructured environments, or lack adaptive ability to situation and dynamic environments. This paper proposed a security system utilized mobile robot with sensor fusion technique to assist its intelligent control system. System is autonomous control to process the environment for security patrol mission. Our system achieved success patrolling all rooms of a test house while avoiding random obstacles. In patrolling process, our system succeed detect intruder as well as recognize family members. Total time of the patrolling is less than ten minutes included intruder detection.