Implementation of Reactive Control for a Miniature Surveillance Robot

Large-scope surveillance is demanded in many civilian activities. These special tasks require a kind of autonomous mobile robot. We present a miniature autonomous robot for large-scale indoor reconnaissance and surveillance missions. However, the small volume of our robot results in the difficulty of implementing autonomous capacity due to limited computational and communicational resources. Through multiple sensors and control strategy, our robot possesses several basic reactions and also can be teleoperated by a human operator. Several experiments showed that our robot was useful for surveillance in confined spaces and can carry out reconnaissance missions on its own.