This paper proposes a method to perform surveillance tasks of dynamic perimeters using an autonomous mobile robot. In natural disaster scenarios in which the borderline of the hazard - like oil spills, wildfire, and radiation - can expand over time and pose a lot of danger, it is extremely helpful to efficiently perform a surveillance task in order to support evacuation missions and to aid the hazard dispel. Our proposal is based upon using an interpolation method to define the boundary of the perimeter that will be placed under surveillance, next a navigation strategy makes the robots converge to and circumnavigate the defined perimeter, finally, an optimization approach improves the coverage considering multiple perimeters. Results show that our perimeter representation is reliable in different scenarios, and the motion control approach allows for an efficient and minimized tracking error.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multiple Dynamic Perimeter Surveillance by an Autonomous Robot


    Contributors:


    Publication date :

    2020-11-09


    Size :

    412312 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    UWB Perimeter Surveillance

    Douglas Lynch, A.E. / Gerard Genello, B. / Michael Wicks, C. | IEEE | 2007


    UWB Perimeter Surveillance

    Lynch, A.E.D. | Online Contents | 2007



    Image Comparison Methods for Perimeter Surveillance

    Young, S. / Forshaw, M. / Hodgetts, M. et al. | British Library Conference Proceedings | 1999


    PERIMETER MONITORING USING AUTONOMOUS DRONES

    BRYSON DONALD L / KLINE ERIC V / RAKSHIT SARBAJIT K | European Patent Office | 2017

    Free access