Probability-based location aware design and on-demand robotic intrusion detection system

Chia How Lin, Kai-Tai Song

Research output: Contribution to journalArticlepeer-review

13 Scopus citations

Abstract

For an on-demand robotic system, a location aware module provides location information of objects, users, and the mobile robot itself. This information supports various intelligent behaviors of a service robot in day-to-day scenarios. This paper presents a novel probability-based approach to building a location aware system. With this approach, the inconsistencies often seen in received signal strength indicator (RSSI) measurements are handled with a minimum of calibration. By taking off-line calibration measurement of a ZigBee sensor network, the inherent problem of signal uncertainty of to-be-localized nodes can be effectively resolved. The proposed RSSI-based algorithm allows flexible deployment of sensor nodes in various environments. The proposed algorithm has been verified in several typical environments and experiments show that the method outperforms existing algorithms. The location aware system has been integrated with an autonomous mobile robot to demonstrate the proposed on-demand robotic intruder detection system. In the experiments, three alarm sensors were employed to monitor abnormal conditions. If an intrusion was detected, the robot immediately moves to the location and transmits scene images to the user, allowing the user to respond to the situation in real time.

Original languageEnglish
Article number6587583
Pages (from-to)705-715
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume44
Issue number6
DOIs
StatePublished - 1 Jan 2014

Keywords

  • Autonomous navigation
  • location aware system
  • received signal strength indicator
  • security robot
  • sensor network

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