Navigation and mobile security system of intelligent security robot

We have recently developed a software architecture in intelligent security robot (ISR). Sensor data, motion planning, motion control, vision system, remote control and other parts of software can all communicate with each other through kernel system. We also discuss the modes and distance of obstacle avoidance that influence in the pathway of obstacle avoidance. In order to navigate ISR to complete mission with obstacle avoidance system and security system by using ultrasonic sensors, IR sensors, body sensor, GSM, and USB Web-camera installed in ISR. Therefore, because the limitation of ultrasonic sensors and the action mode we have set, we have to choose a critical distance. When ISR approaches an obstacle into this distance, ISR starts to avoid obstacle. In order to reach this goal, we mount a multi-function USB Web-camera including pan-tilt scanning, automatic tracking, and rapid recording on top of ISR to complete an assigned task. We have successfully demonstrated the modes and distance of obstacle avoidance and the security system