Raspberry-Pi Based Home Surveillance Robot

Pang, Wei Xiang (2022) Raspberry-Pi Based Home Surveillance Robot. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

This work focuses on the development of a Raspberry-Pi based home surveillance robot (HSR) to improve existing security solutions, specifically the CCTV. The aim is to achieve auto-navigation and remote web-based surveillance with reduced resources, complexity and power consumption while exploiting viewing range with robotic mobility. This mobility is attained via a four-wheel-drive (4WD) robot base. The proposed HSR consists of three operation modes which is the initial learn mode, automated surveillance mode and manual control mode. First, for the learn mode, the robot will self-navigate in an unknown environment while creating a 2D map of its surroundings. Second, in auto mode, the robot is expected to navigate across the house perimeter using the pre-created map by learn mode. Here, it will stop at the marked checkpoints to detect and alert owners should there be any anomalies. This auto mode can be activated manually or according to the user scheduled time. Third, for the manual mode, the robot is expected to perform user specified robotic control via the designated webpage. Several techniques are embedded within the three modes. Firstly, surrounding recognition and comparison is implemented to detect anomaly during auto surveillance mode in which email notification will be employed to alert user of any anomaly. In manual mode, the website will be secured with a username-password authentication before granting remote-access to the robotic controls. The key contribution of this work is the navigation and mapping algorithm, pre-dominantly used during learn and auto mode. The proposed algorithm employs a 2D matrix map, laser sensors, wheel encoders and a 3-axis gyroscope to perform indoor positioning and navigation. The application of this HSR is primarily for home security, it alert owners to take prompt action should an intrusion occur. In future, this HSR can be implemented with a solar panel to prolong operation time before having to navigate back to its charging base.