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We have developed an intelligent multi sensor-based security robot system that can detect abnormal and hazardous situation and notify us. The security robot is constructed using an aluminum frame. The contour of the robot is cylindrical. The diameter is about 50 cm, and height is 150 cm. The function of the security robot contains six parts, including software development system; obstacle avoidance and motion planning system, image system, sensor system, remote supervisory system and other systems. In the sensor system, we use multisensor integration algorithm. Then we also present the remote mobile security system (RMS) for the security robot. We use touch panel to display system state, and design a general user interface (GUI) on the security robot. We demonstrate the remote supervisory system to control the security robot using direct control mode and behavior control mode. We design a new recharging station for the security robot. It moves by X axis and rotates by Z axis, and guards the security robot easily to connect using sensor based method. Finally, we implement security function using the security robot to detect fire event and intruder. The security robot can transmit the message of the detection result to the cellular phone using GSM modem, and transmits the detection result to the client computer through Internet.
Luo et al. (Tue,) studied this question.