Autonomous patrolling system with mobile robots and sensor fusion

With the increasing threats of today's world, both national and individual level has increased the importance of security systems. There are many security systems, both manned and unmanned, to ensure the safety of life and property. In this study, a security system based on mobile robots that communicates each other over a wireless network is designed as an alternative to manned or camera based security systems. Proposed system,which is using multi-sensor fusion, has been observed to offer more effective results compared to existing existing security systems.The importance of sensor fusion in Localization and Mapping Extraction is then be realized once sensor fusion improves the sensitivity and accuracy of the obtained map or data. With this study it is seen and observed how the error enhancement of the data obtained by the robots via having sensor fusion senario in an simulation environment.In the simulation environment laser, ultrasonic and camera sensors are applied. Different combinations are exercised and studied to see how the data and errors obtained by sensors are changed. The applied main two sensors are signed as camera and the laser. For the simulation environment Microsoft Robotics Development Studio is used and benefited from OpenCV libraries in image processing. In addition, data communication between mobile robots are modeled in the simulation environment are examined. Prowler wireless network simulation package was used in the simulation studies.