Aerial Reconnaissance Teresstrial Surveillance System (ARTSS)
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Date
2015-12-22T06:15:05Z
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Abstract
The project involves design and development of algorithms for an autonomous robot
system deployed for surveillance activities. The work entails design of routing algorithm,
communication system, application server and PID controller using MATLAB and Open
Source platforms. Routing algorithm design includes feature matching, mapping of
images to grid based graphs and deriving routing meta-data. The communication system
is responsible for transferring routing meta-data from server to the client and application
data from client to server over the internet backbone using protocol suited for deployment
requirements. Communication system entails detailed study and design of buffer size
requirements and read/write cycle to buffer (to synchronize bytes that are in buffer and
application processing rate). The Client is an ARM based computer responsible for
acquisition of data and act as liaison between routing algorithm process at server end and
the PID process at the client end that is responsible for movement of robot. Application
server is designed to aid surveillance buy monitoring the application data (live video
stream) transmitted by the client over HTTP protocol and performing facial recognition
using PYTHON and OPEN CV libraries. The design of ground bot entails design of PID
controller, placement of power source, routing of signals/power lines to components and
packaging within the robot chassis
Modelling of routing algorithm is one of the key aspects in the project. An aerial acquired
image usually contains a lot of detail in a cluttered environment. The ability to match
features of the robot and obstacle to database is vital for autonomous nature of the system.
Dijkstra's algorithm and its derivatives are used for finding the shortest paths between
nodes in an environment.
Currently, autonomous robot systems are at their infancy. Development of algorithms are
key to sustainability of these systems and it’s our aim to contribute to this development
through this project.
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Aerial Reconnaissance Teresstrial Surveillance System (ARTSS), Ankit Mishra, Santhosh Kumar S, Sreejith R Warrier