The design and implementation of an autonomous campus patrol robot

This paper presents the design and implementation of a campus-patrol robot project. Autonomous patrol and web-presence are set as two basic functionalities of the campus-patrol robot. The robot is equipped with diverse sensors. Different data fusion techniques have been applied. An extended Kalman filter (EKF) is used to fuse the data from GPS and electronic compass for the localization and navigation task. And a Bayesian data fusion strategy is used to solve the problem of obstacle detection and avoidance. The web presence of the patrol robot is assured through a website and a web-based remote control platform which allows users to access the real images captured by the patrol robot and to control the viewing angle from a remote place via Internet. Keywords: autonomous patrol robot; multi-sensor data fusion; obstacle avoidance.