ROS-Based Indoor Surveillance Mobile Robot

摘要

Nowadays, mobile robots are widely used for several purposes. Surveillance robots are one type specially used in many environments, which need to be well equipped with different sensors to accomplish its main tasks. The main objective of this work is to build and implement a robot base surveillance system that can provide more security toward abnormal human conduct, gas explosion and fire. For this purpose, we have developed a multisensor mobile platform able to autonomously navigate in the environment and perform surveillance tasks under a unique framework using Robot Operating System (ROS). On the other hand, an intelligent real-time abnormal human activity recognition system has been proposed; it is capable of identifying suspicious activity using visual data. The early outcomes of the experiments are encouraging and demonstrate the system's overall efficacy.