Abstract: The objective of this study is to apply a global navigation satellite system (GNSS)–realtime kinematic (RTK) positioning system, StarGazer, a visual sensor, and a range sensor to a
wheeled mobile robot (WMR) for security service. The GNSS–RTK positioning system can
provide the outdoor location of the WMR and record the path through which WMR moves.
StarGazer, an infrared positioning system, is applied for indoor navigation. We use a webcam
to search for people who appear in the patrol path. An intruder’s face is recognized using
the Fisherface algorithm. A laser sensor is utilized to detect an obstacle’s position, and a
fuzzy controller is applied to obstacle avoidance control. Experimental results show that the
proposed control scheme can make the WMR perform surveillance tasks in outdoor and indoor
environments as well as security patrol.