Surveillance Robot Capturing Intruder Using PIR Sensor

Abstract

This paper focuses on a surveillance mission performed by an autonomous mobile robot in an
environment. In this mission, by using flexibility and monitoring function, the Robert is
expected to detect as many intruders as possible. However, the robot does not know where
and how many environmental intruders are present without the data, estimating an intrusion
pattern and detecting unknown intruders is impossible for the robot. By proposing a novel
surveillance method this challenges in order to estimate intrusion trend for the robot. For
this purpose, Bayes’ rule is basically used. This probabilistic approach allows the robot to
express the intruders through existing probability and appearance frequency. The robot is
mainly enabled to monitor the places with the intrusion trend in addition to the minor places.
Through simulation experiments, the effectiveness of the proposed method for the unknown
intruders is shown. Furthermore, an adaptability of the robot based on the probabilistic
approach to various kinds of intrusion trends is analyzed.