標題: Probability-Based Location Aware Design and On-Demand Robotic Intrusion Detection System
作者: Lin, Chia-How
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Autonomous navigation;location aware system;received signal strength indicator;security robot;sensor network
公開日期: 1-Jun-2014
摘要: For an on-demand robotic system, a location aware module provides location information of objects, users, and the mobile robot itself. This information supports various intelligent behaviors of a service robot in day-to-day scenarios. This paper presents a novel probability-based approach to building a location aware system. With this approach, the inconsistencies often seen in received signal strength indicator (RSSI) measurements are handled with a minimum of calibration. By taking off-line calibration measurement of a ZigBee sensor network, the inherent problem of signal uncertainty of to-be-localized nodes can be effectively resolved. The proposed RSSI-based algorithm allows flexible deployment of sensor nodes in various environments. The proposed algorithm has been verified in several typical environments and experiments show that the method outperforms existing algorithms. The location aware system has been integrated with an autonomous mobile robot to demonstrate the proposed on-demand robotic intruder detection system. In the experiments, three alarm sensors were employed to monitor abnormal conditions. If an intrusion was detected, the robot immediately moves to the location and transmits scene images to the user, allowing the user to respond to the situation in real time.
URI: http://dx.doi.org/10.1109/TSMC.2013.2277691
http://hdl.handle.net/11536/24681
ISSN: 2168-2216
DOI: 10.1109/TSMC.2013.2277691
期刊: IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume: 44
Issue: 6
起始頁: 705
結束頁: 715
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