Autonomous patrol and surveillance system using unmanned aerial vehicles

Author

Kian Seng Lee ; Ovinis, Mark ; Nagarajan, T. ; Seulin, Ralph ; Morel, Olivier

Author_Institution

Mech. Eng. Dept., Univ. Teknol. PETRONAS, Bandar Seri Iskandar, Malaysia

fYear

2015

fDate

10-13 June 2015

Firstpage

1291

Lastpage

1297

Abstract

Unmanned aerial vehicles (UAVs) are increasingly popular for civil applications due to their flight capabilities and mobility. This paper proposes an indoor autonomous patrol and surveillance system using unmanned aerial vehicles. The system consists of six components: (1) a low cost vision-based pose estimation of UAVs, (2) vision-based state estimation, (3) UAV patrol path planning, (4) UAV controller to desired waypoints, (5) manual joystick controller and (6) assignment of priority hierarchy to multiple control inputs of a robot. The components were integrated successfully and the designed system was experimented in an indoor setup. Results has shown that the proposed system is suitable and feasible to be used as an autonomous patrol and surveillance agent for indoors use.

Keywords

aerospace control; autonomous aerial vehicles; mobile robots; telerobotics; video surveillance; UAV controller; UAV patrol path planning; autonomous patrol; flight capabilities; flight mobility; manual joystick controller; surveillance system; unmanned aerial vehicles; vision based pose estimation; vision based state estimation; Cameras; Robots; State estimation; Surveillance; UAV control; UAV surveillance; autonomous system; indoor security; path planning; patrol; robot control hierarchy; smart building; unmanned aerial vehicle; vision-based state estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Environment and Electrical Engineering (EEEIC), 2015 IEEE 15th International Conference on

Conference_Location

Rome

Print_ISBN

978-1-4799-7992-9

Type

conf

DOI

10.1109/EEEIC.2015.7165356

Filename

7165356