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The objective of this study is to apply a global navigation satellite system (GNSS)–realtime kinematic (RTK) positioning system, StarGazer, a visual sensor, and a range sensor to a wheeled mobile robot (WMR) for security service. The GNSS–RTK positioning system can provide the outdoor location of the WMR and record the path through which WMR moves. StarGazer, an infrared positioning system, is applied for indoor navigation. We use a webcam to search for people who appear in the patrol path. An intruder’s face is recognized using the Fisherface algorithm. A laser sensor is utilized to detect an obstacle’s position, and a fuzzy controller is applied to obstacle avoidance control. Experimental results show that the proposed control scheme can make the WMR perform surveillance tasks in outdoor and indoor environments as well as security patrol.

Application of Real-time Positioning System with Visual and Range Sensors to Security Robot