Design and implementation of sensor fusion based behavior strategies for a surveillance and security robot team

This paper mainly covers the study of sensor fusion and behavior strategies for surveillance and security robot team (SSRT). The team consists of three robots, and is more effective and complete than one robot in surveillance and security. We arrive at the goal of surveillance and security at the robot mount the vision unit, ultrasonic unit, fire-detecting module, and self-location unit. The robot team shares the environmental information with one another through a wireless communication system. The robot can move faster and reduce the time using an omni-directional wheel. The robot team can work 24 hours by an automatic power recharge system. Sensor fusion and behavior strategies make robots complete the mission. The robot avoids an obstacle by fuzzy logic controller (FLC). We use an emergency decision algorithm (EDA) to detect accidents and present a path planning algorithm for periodic patrol behavior. Each robot can avoid an obstacle by an omni-directional move in the patrol process, detect a fire, and confirm the location using an RFID system, transmit the alert to a web-control center through a wireless communication system, and recharge the power autonomously. Finally, the efficiency and feasibility of the proposed system are demonstrated by practical experiments.