Security service system using autonomous mobile robot

Shimosasa, Yoichi; Kanemoto, J.; Hakamada, Kenichi; Horii, Hirosuke; Ariki, Takao; Sugawara, Yu; Kojio, F.; Kimura, Asuka; Yuta, Shin’ichi

doi:10.1109/icsmc.1999.812514

Cited by 20 publications

(7 citation statements)

References 1 publication

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“…was realized with an infrared communication system. The robots in [11,12] could navigate in the elevator depends on the communication system between the robot and the elevator. Without this infrastructure, these robots cannot enter/exit the elevator.…”

Section: Introductionmentioning

confidence: 99%

Recognition and path planning strategy for autonomous navigation in the elevator environment

Kang

Choi

et al. 2010

Int. J. Control Autom. Syst.

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This paper presents a robust and reliable method for a mobile robot to get on/off an elevator in a multistory building. Getting on/off the elevator requires the robot to perform two different tasks: a recognition task and a navigation task. First, we propose a recognition algorithm for the elevator buttons and status so that the robot reacts flexibly to the current elevator status. We first apply an adaptive threshold to the current image in order to get a binary image. Then we extract the candidates of the buttons and the floor number after preliminary filtering. Ambiguous candidates are rejected using an artificial neural network, and a matching method is applied to finally recognize the call buttons, destination floor buttons, moving direction and current location of the elevator. Second, we suggest a path planning algorithm to navigate into and out of the elevator without any collision. By constructing an occupancy grid map and computing a target function, we find the best position for the robot to get on the elevator. Then we plan an optimal path to the best position using a potential field method. Experiments were carried out in several simulated and real environments including empty, crowd and blocked scenarios. The approach presented here has been found to allow the robot to navigate in the elevator without collisions.

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Section: Introductionmentioning

confidence: 99%

Recognition and path planning strategy for autonomous navigation in the elevator environment

Kang

Choi

et al. 2010

Int. J. Control Autom. Syst.

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“…The application of autonomous multi-robot systems (MRS) to real-world problems has recently received significant attention in academia and industry. One such application area is intelligent security systems, where the use of autonomous MRS has been proposed to provide facility security and monitoring [18,23]. In addition to the development of physical robots, there has been simultaneous investigation into algorithms for multi-robot surveillance [19], concerning how an intelligent security system can be used to efficiently search complex environments for intruders.…”

Section: Introductionmentioning

confidence: 99%

Intruder alert! Optimization models for solving the mobile robot graph-clear problem

et al. 2018

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We develop optimization approaches to the graph-clear problem, a pursuit-evasion problem where mobile robots must clear a facility of intruders. The objective is to minimize the number of robots required. We contribute new formal results on progressive and contiguous assumptions and their impact on algorithm completeness. We present mixed-integer linear programming and constraint programming models, as well as new heuristic variants for the problem, comparing them to previously proposed heuristics. Our empirical work indicates that our heuristic variants improve on those from the literature, that constraint programming finds better solutions than the heuristics in run-times reasonable for the application, and that mixed-integer linear programming is superior for proving optimality. Given their performance and the appeal of the model-and-solve framework, we conclude that the proposed optimization methods are currently the most suitable for the graph-clear problem.

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“…Some researches addressed in developing intelligent system of mobile robot [1][2][3], such as Javier Minguez et al proposed a navigation method to drive an autonomous mobile robot in unknown or uncertain environment [3]. Yoichi Shimosasa et al developed autonomous guard robot [4][5] which integrate the security and service system, the robot can guide visitors in daytime and patrol at the night.…”

Section: Introductionmentioning

confidence: 99%

Multisensor controlled obstacle avoidance and navigation of intelligent security robot

Luo

Lin

Hsu

et al. 2005

31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005.

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In the real world, development of robotics has replaced our manpower gradually, and assisted human to perform rather difficult tasks. One of the most important factors for the ISR(Intelligent Security Robot) to reach the goal safely is how to avoid the unknown obstacles in the unknown environment.The unknown obstacles include static and dynamic obstacles which are detected by ultrasonic sensors and IR sensors respectively. If we use only one of the two kinds of sensors to detect obstacles, it is not useful for ISR to complete tasks in the real world, because the surrounding environment in the real world is dynamic, unknown and time-varying. Therefore, we use sixteen pieces of ultrasonic sensors and eight IR sensors to detect obstacle, and measure distance from the center of ISR to obstacles. Hence, the multi-sensor integration technique is applied in the robotics. This technique acquires sensory information to construct environment information. On the other hand, shapes and areas of obstacles will both change the data that IR sensor and Ultrasonic sensor registered. As a result, they will change the decision that ISR made during the process of obstacle avoidance. So the time ISR spent and the length of path will have some differences when ISR navigate to the given position from the start position. The system has been successfully demonstrated experimentally.

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Security service system using autonomous mobile robot

Cited by 20 publications

References 1 publication

Recognition and path planning strategy for autonomous navigation in the elevator environment

Recognition and path planning strategy for autonomous navigation in the elevator environment

Intruder alert! Optimization models for solving the mobile robot graph-clear problem

Multisensor controlled obstacle avoidance and navigation of intelligent security robot

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