Vision Based Indoor Surveillance Patrol Robot Using Extended Dijkstra Algorithm in Path Planning

Abstract

Vision based patrol robot hasbeen withgreat interest nowadaysdue to its consistency, cost effectiveness and no temperament issue.In recent times,Global positioning system (GPS) has been cooperatedwith Global Navigation Satellite System (GNSS) to come out withbetteraccuracy quality in positioning, navigation, and timing (PNT) services to locatea device. However, suchlocalization service is yet toreachanyindoor facility. For an indoor surveillancevision based patrol robot, suchlimitation hindersitspath planning capabilitiesthatallowsthe patrol robot to seek forthe optimum path to reach the appointed destination and return back to its home position. In this paper, a vision based indoor surveillance patrol robot using sensory manipulation technique is presented and an extended Dijkstra algorithm is proposed for the patrol robot path planning. The designof the patrol robot adopted visual type sensor, range sensorsand Inertia Measurement Unit (IMU)system to impulsively update the map’s data in line withthe patrol robot’s current path and utilizethe path planning featuresto carry outobstacle avoidance and re-routing process in accordance tothe obstacle’stype metby the patrol robot. The result conveyedby suchapproach certainly managedto complete multiple cycles of testing with positive result.

Keywords

• vision system
• indoor surveillance
• robotics
• surveillance robot
• path planning