The design and implementation of an autonomous campus patrol robot
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15-01-2010, 02:03 PM

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Joined: Jan 2010
17-01-2010, 06:02 PM

The design and implementation of an autonomous campus patrol robot
In this article, the design and implementation of a campus-patrol robot project and implimentation is explained. Autonomous patrol and web-presence are set as two basic functionalities of the campus-patrol robot. The robot is equipped with a wide variety of sensors.Different data fusion techniques have been applied here. The data from GPS and electronic compass are fused by the application of an extended Kalman filter (EKF) for the purpose of localization and navigation task. A Bayesian data fusion strategy is used to solve the problem of obstacle detection and avoidance.A website and a web-based remote control platform ensures its web presence. This allows users to access the real images captured by the patrol robot and to control the viewing angle from a remote place via Internet.

A Security Patrol Robot via Network and
Map-Based Route Planning

To compensate for shortages of security staff and to reduce the stress of security managers, we have
developed an intelligent patrol robot system called "OkiKoSenPBX1" for University, College Campus and Hotel security
control. The system integrates a variety
of sensors to gather environmental information and to detect abnormal events including intruders.

Mechanics:The wheels-based platform consists of two
12V DC motors with Integrated 800 Count per Cycle
Optical Encoder.Weight 6 kg, payload of 15 kg.

Architecture:high-level control of the robot is maintained
by a remote or local PC/server communicating by a
secure wireless link.Low-level functionality is
managed by an onboard Digital Signal Processor (DSP)
while computationally intensive operations are
performed off board.Commands
and instructions sent to the robot via the wireless

The sensors consist of i90 that offer full Wi-Fi
802.11G wireless, multimedia, sensing and motion

Robot Kinematic:
The driving system uses here is a differential motion with two
degrees of freedom, composed by two active parallel
and independent wheels, a third passive wheel with
exclusively equilibrium function and proximity sensors
capable of obstacles detection. robot is equipped with
specific sensors for detection and recognition of search
objects or intruders.

Map-based route planning: The procedure of planning consists of determining a sequence of intermediary goal
points or coordinates x and y that will compose the robot trajectory. The route-planning generator module
uses an area-preserving map.

Control architecture:
The software for running the
robot for its patrol mission has been developed using
WiRobot Software Development Kit (SDK) through
PMS5055 robot sensing-motion controller.Teaching robot its patrol routine is driving it
around the Building (inside or outside) to be patrolled
once as it maps mission plan into its memory.The program is written in
c# with Visual Studio 2008 Express under .Net 3.5

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