An autonomous surveillance and security robot team

The motivation of this paper is to set up a surveillance and security robot team (SSRT, three autonomous mobile robots and a surveillance and security control (SSC) center. The SSC center communicates with clients via the Internet which can assign patrol scheduler for each robot. The SSRT shares the environmental information among team members through a wireless communication network. The architecture of the SSRT can be divided into two parts. The first one is sensory feedback park. Each surveillance and security robot (SSR) can transmit and receive useful some data, for example, the electric energy residue and the result of patrol, to SSC center via the internet. The other one is mission assignment. The SSC center sorts out the priority of each SSR for the mission execution and assigns each SSR a suitable mission, for example, if any unusual event happens, the SSR will alarm and send the pictures to the SSC center, and then the center will announce the robot employer and assign the optimal patrol role for every robot. The most suitable robot will go to support the incident area, while the other robots will evacuate people to decrease any possible damage. A fuzzy logic decision algorithm is adopted to find the optimal path for each robot to reach the incident location. By combining RFID data with the vision system to recognize the bar-code characteristics in the environment, the self-localization and the patrol routine for each robot can be accomplished. Each robot possesses the auto-recharge function which can recharge itself automatically. Finally, real-time experiments are executed to demonstrate the feasibility and effectiveness of the proposed schemes.