Autonomous Patrol and Surveillance System using Unmanned Aerial Vehicles

Unmanned aerial vehicles (UAVs) are increasingly
popular for civil applications due to their flight capabilities and
mobility. This paper proposes an indoor autonomous patrol and
surveillance system using unmanned aerial vehicles. The system
consists of six components: (1) a low cost vision-based pose
estimation of UAVs, (2) vision-based state estimation, (3) UAV
patrol path planning, (4) UAV controller to desired waypoints,
(5) manual joystick controller and (6) assignment of priority
hierarchy to multiple control inputs of a robot. The components
were integrated successfully and the designed system was
experimented in an indoor setup. Results has shown that the
proposed system is suitable and feasible to be used as an
autonomous patrol and surveillance agent for indoors use.