Indoor surveillance robotic system using an autonomous mobile robot

This paper presents a design of a robotic system, called Horus Patrol, using an autonomous mobile robot with differential drive to perform a surveillance of a virtual environment generated by 3D Gazebo simulator. This system consists of a Turtlebot 2 robot, which uses the ROS operating system, working in conjunction with a graphical user interface. This system performs an indoor surveillance by patrolling, in order to ensure that any possible threat is detected by the color of an object. The patrol is performed through pre-defined routes where the robot is responsible for carrying them out autonomously and report any abnormal findings to a central command center, monitored by a guard who is responsible for filtering false positives and by the decision making in case of danger.