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Implementation of Basic Reactions for a Miniature Surveillance Robot

Large-scope surveillance is demanded in many civilian activities. These special tasks require a kind of autonomous mobile robot. We present a miniature autonomous robot ("BMS-1", BIT MicroScout-1) for large-scale indoor reconnaissance and surveillance missions. However, the small volume of BMS-1 results in the difficulty of implementing autonomous capacity due to limited computational and communicational resources. Through multiple sensors and control strategy, BMS-1 possesses several basic reactions and also can be teleoperated by a human operator. Several experiments showed that BMS-1 was useful for surveillance in confined spaces and can carry out reconnaissance missions on its own or by teleoperation.