Wall following and human detection for mobile robot surveillance in indoor environment

This paper describes the design of an indoor surveillance system capable of wall following and human detection based on intelligent mobile robot navigation. The wall following is performed based on a differential velocity control using type-2 fuzzy logic for a wheeled mobile robot equipped with IR sensors and sonar sensors, and human detection is performed by a human detection sensor. We have tested the application of our design in mobile robot for an indoor surveillance task of a polygon terrain using right wall following. The surveillance system of mobile robot is effective to work well in our testing.