The design of a mobile autonomous robot for indoor security applications

Abstract

This paper describes the design of a low-cost (below US $2000) autonomous guided vehicle (AGV) intended for indoor security applications. The vehicle is highly manoeuvrable, allowing it to navigate around obstacles easily. To succeed in its security application, the AGV is designed to be visually significant, stable (to resist accidental or deliberate tipping), able to operate for extended periods and has the ability to notify a human supervisor should particular situations occur. The AGV possesses sufficient processing power and sensor capability to operate autonomously.

Keywords

autonomous guided vehicle security robot mechatronics

References

Everett

H. R.

A brief history of robotics in physical security. Unmanned Vehicles, February—April 1998, 3(1).

Everett

H. R.

Security and sentry robots. In International Encyclopedia of Robotics: Applications and Automation, 1988, pp. 1462–1476 (John Wiley, New York).

http://www.southcom.com.au/∼robot/index.html.

http://www.nosc.mil/robots/land/mprs/mprs.html.

http://www.cybermotion.com/html/products.html.

http://www.spawar.navy.mil/robots/land/robart/spie96.html.

http://world.honda.com/ASIMO/.

http://www.activrobots.com/.

http://www.mpm.maxonmotor.com/.

10.

Hurd

Carnegie

Laser-range finding for an autonomous mechatronic device. In Proceedings of the Seventh New Zealand Electronics Conference, Wellington, New Zealand, 28–29 August 2000, pp. 107–110.

11.

Borenstein

Feng

Measurement and correction of systematic odometry errors in mobile robots. IEEE Trans. Robotics and Automn, 1996, 12(6).

12.

Aspect Technology, PO Box 10-272, Hamilton, New Zealand; e-mail: aspect@aspectech.co.nz.

13.

Jensen

C. H.

Carnegie

Gaynor

Universal battery powered pulse width modulated H-bridge motor control for robotic applications. In Proceedings of the Tenth New Zealand Electronics Conference, Hamilton, New Zealand, 1–2 September 2003, pp. 47–52.

14.

Carnegie

Pilling

The evolution of a mobile autonomous robotic vehicle for indoor navigation. In Proceedings of the Eighth New Zealand Electronics Conference, New Plymouth, New Zealand, 4–5 October 2001, pp. 121–124.

15.

Brightwell

Analysis of adaptive reactive control systems for autonomous mobile robots. PhD thesis, University of Waikato, Hamilton, New Zealand, 1997.

16.

Lee-Johnson

Carnegie

The development of a control system for an autonomous mobile robot. In Proceedings of the Tenth New Zealand Electronics Conference, Hamilton, New Zealand, 1–2 September 2003, pp. 77–82.

17.

Robotechnology, PO Box 15-138, Miramar, Wellington, New Zealand; http://www.robotechnology.co.nz/.

18.

Prakash

Carnegie

Chitty

The humanisation of an autonomous mobile robot. In Proceedings of the Tenth New Zealand Electronics Conference, Hamilton, New Zealand, 1–2 September 2003, pp. 139–144.

19.

Carnegie

D. A.

Towards a fleet of autonomous mobile mechatrons. In Proceedings of the International Federation of Automatic Control Second Conference on Mechatronics Systems, Berkeley, California, 9–11 December 2002, pp. 673–678.