Mobile robot intruder detection based on a Zigbee sensor network

This paper presents an intruder detection system which consists of a Zigbee sensor network and an autonomous mobile robot. Multiple Zigbee sensor modules installed in the environment can detect intruders and abnormal conditions. Sensor nodes transmit intrusion alarm to the monitoring center as well as the mobile robot via Zigbee wireless mesh network. The robot can navigate in the environment autonomously and approach to a target place using onboard localization system. If any possible intruder is detected, the robot immediately moves to that location and transmits images to remote mobile devices such as PDA or smart phone of security guards and users, in order to determine and response to the situation in real time.