Journal of Computer and Communications, 2023, 11, 93-107

https://www.scirp.org/journal/jcc
ISSN Online: 2327-5227
ISSN Print: 2327-5219

Design of Indoor Security Robot based on Robot

Operating System

Faxu He, Liye Zhang*

School of Computer Science and Technology, Shandong University of Technology, Zibo, China

How to cite this paper: He, F.X. and Abstract

Zhang, L.Y. (2023) Design of Indoor Secu-
rity Robot based on Robot Operating Sys- The design and implementation of indoor security robot can well integrate
tem. Journal of Computer and Communi- the two fields of indoor navigation and object detection, in order to achieve a
cations, 11, 93-107. more powerful robot system, the development of this project has certain
https://doi.org/10.4236/jcc.2023.115008
theoretical research significance and practical application value. The project
Received: April 23, 2023 development is completed in ROS (Robot Operating System). The main tools
Accepted: May 26, 2023 or frameworks used include AMCL (Adaptive Monte Carlo Localization)
Published: May 29, 2023
package, SLAM (Simultaneous Localization and Mapping) algorithm, Dark-
Copyright © 2023 by author(s) and
net deep learning framework, YOLOv3 (You Only Look Once)algorithm, etc.
Scientific Research Publishing Inc. The main development methods include odometer information fusion, coor-
This work is licensed under the Creative dinate transformation, localization and mapping, path planning, YOLOv3
Commons Attribution-NonCommercial
model training, function package configuration and deployment. Indoor se-
International License (CC BY-NC 4.0).
http://creativecommons.org/licenses/by-nc/4.0/ curity robot has two main functions: first, it can complete real-time localiza-
Open Access tion, mapping and navigation of indoor environment through sensors such as
lidar and camera; Second, object detection is accomplished through USB
camera. Through the detailed analysis and research of the functional design
of the two modules, the expected function is finally realized, which can meet
the daily use needs.

Keywords
Indoor Security Robot, Indoor Navigation, SLAM, Object Detection, YOLO

1. Introduction
Using indoor robots to solve problems in real life not only saves labor, but also
conforms to the development of The Times. At present, indoor robots have been
widely used in patrol security, monitoring, industrial production, smart home
and other aspects, and researchers’ exploration and design of it is still accelerat-
ing [1]. At present, the research of indoor robot mainly focuses on the localiza-

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F. X. He, L. Y. Zhang

tion and autonomous navigation direction with SLAM algorithm as the core,
and some researchers independently explore the object detection direction in
computer vision, but there is a lack of work combining the two functions to-
gether. Therefore, the purpose of this paper is to realize the combination of ro-
bot autonomous navigation and object detection. Specifically, this paper pro-
poses an indoor security robot architecture combining autonomous navigation
module and object detection module, and designs and implements it. In this ar-
chitecture, autonomous navigation module is the central module of the robot. In
terms of links, it connects perception and motion control, making decisions
based on tasks and perceived environmental information, and planning the ro-
bot's motion trajectory. As for the object detection module, in short, it is an ex-
tension module of the robot. Through the fine perception of the external envi-
ronment of the module, it can realize many functions, such as external intrusion
detection, employee identification and so on. Finally, the effectiveness of the two
modules is verified by systematic testing. Both modules perform well in indoor
environment.
In recent years, the exploration of indoor robot is a research hotspot in the
field of robot. In terms of robot autonomous navigation, Zhang et al. collected
video images of indoor environment by using cameras placed at fixed indoor lo-
cations, and designed real-time image analysis algorithms to achieve obstacle
avoidance, robot position tracking and other functions [2]. Chen et al. studied
the theory and implementation of a self-positioning algorithm for a single mo-
bile robot based on odometer and laser sensor in a general indoor environment
[3]. Yang et al. realized wireless communication between upper computer, in-
door positioning system and mobile robot, as well as real-time positioning func-
tion of mobile robot [4]. Zhong et al. proposed to use image recognition tech-
nology to obtain the navigation deflection Angle of robot [5]. Guo et al. took a
two-wheeled differential mobile robot equipped with ROS as the platform and
used Lidar as the main sensor to solve the localization, raster map creation and
navigation problems of the mobile robot [6]. Zeng et al. constructed a visual
SLAM system based on point-line feature fusion by adding line feature to point
feature [7]. Zheng et al. used the TEB (Timed Elastic Band) algorithm as a local
path planning algorithm to propose and implement an indoor autonomous na-
vigation system for mobile robots based on obstacle detection with depth camera
[8].
In terms of robot indoor environment perception: Sun et al. proposed a target
autonomous positioning and segmentation extraction algorithm, which inde-
pendently obtains ROI (Region Of Interest) region and extracts and segments
target point cloud according to the voxel-based method [7]. Li et al. combined
deep learning method to study object detection algorithm based on 3D laser
ranging sensor. The effectiveness of the proposed algorithm is proved by expe-
riments [8]. In order to solve the imbalance and instability of dynamic tracking
of preschool children’s companion robot in indoor environment, Jin et al. pro-
posed a human target dynamic tracking method for preschool children’s com-

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 F. X. He, L. Y. Zhang

panion robot in indoor environment. The experimental results show that the de-
sign method has low error and high accuracy in dynamic tracking of human
body target, which has certain application value [9].
Indoor security robot, as a development direction of robotics, is in essence an
excellent intelligent system. It not only has good environmental perception abil-
ity and can make independent decisions, but also is equipped with robot vision
function module to realize object detection related work [10]. This paper takes
tracked robots as the research object, which is equipped with an ROS system.
The development work of the system is completed through the design and inte-
gration of indoor navigation and object detection functions. Among them, how
to use the robot sensor to construct the accurate two-dimensional raster map
under the condition of low cost and realize the object detection through the high
precision and fast neural network is the focus of this paper. This paper makes a
detailed analysis and research on the functional design of the two modules, and
finally makes the robot system can meet the basic use requirements.
The design and development of the indoor security robot is completed on the
ROS platform. ROS, which was developed in 2007, is an open-source robot op-
erating system that has gained popularity among robot developers. ROS adopts
distributed architecture as its main design idea [11]. Software and functional
modules of robots are regarded as nodes one by one, and the communication
between nodes needs to be realized through topics. In this way, these nodes can
be deployed in different systems or machines, and the advantages of distributed
architecture can be reflected. A common tool used in ROS, ‘rviz’, is shown in
Figure 1.
During the development of object detection function, the main development
tools used are Darknet deep learning framework and OpenCV (open source

Figure 1. Common tools used in ROS.

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F. X. He, L. Y. Zhang

computer vision library) [12]. Among them, Darknet is a relatively minority

deep learning framework. Compared with TensorFlow and other frameworks,
Darknet’s functions are not very rich. However, this has become an advantage of
Darknet, which is mainly reflected in the following aspects: 1) Easy to install. 2)
No other dependencies are required. 3) The structure is clear. 4) Friendly Python
interface. 5) The portability is good.
OpenCV uses C and C++ to complete the underlying writing, has good com-
patibility, can run on Windows, Linux and other operating systems. Light weight
and high efficiency are the main advantages of OpenCV. At present, OpenCV
has become a powerful and widely used research and processing tool in the field
of computer vision [13]. OpenCV has a very wide range of applications, in ma-
chine vision, image classification, face recognition, video analysis and many
other fields can see its shadow. In addition, OpenCV also has the advantage of
real-time application and excellent performance, which provides an effective
method to solve the problem in the real-time scenario of computer vision.

2. Design of Localization, Mapping and Navigation Functions

The main content of this chapter is to study the localization, mapping and navi-
gation functions in indoor environment, using a tracked robot based on ROS as
the research platform. The ROS version used is Melodic. In this version of ROS
system, the software environment is built, and SLAM and other related technol-
ogies are completed in the indoor environment for the localization, mapping
and indoor navigation of the security robot.

2.1. Laser SLAM Algorithm

SLAM, known in Chinese as synchronous localization and mapping, is designed
to solve the localization and mapping problems of a moving robot without
knowing the surrounding environment. The localization work of laser SLAM
needs to go through several steps. Firstly, it is necessary to obtain the environ-
mental point cloud data information, and then calculate the changes of radar
distance and attitude by matching and comparing the information. In this way,
the localization work is completed. Among them, the laser SLAM system is
mainly composed of sensor data, visual odometer, back-end, map building and
loop detection [14].
GMapping is the most widely used algorithm in 2D SLAM algorithm. It is
based on particle filtering. If the algorithm wants to achieve a better result, it
needs to be realized on the basis of a large number of particles, which will ob-
viously make its calculation very complicated. In order to deal with this bad
phenomenon, we need to optimize through some means. GMapping is proposed
on the basis of RBPF algorithm, and its main innovation lies in the optimization
of proposal distribution and selective resampling. GMapping algorithm has a
small amount of computation but good accuracy. Although it is not suitable for
the construction of large scene maps, it performs very well in the construction of

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 F. X. He, L. Y. Zhang

indoor small environment maps.

2.2. Coordinate Transformation Theory

A robot system usually has multiple 3D coordinate systems, and the correlation
between these coordinate systems will change over time. According to the theory
of robot kinematics, the correlative coordinate system is essential for robot loca-
lization [15]. The established correlative coordinate system is shown in Figure 2.
In Figure 2, W is the world coordinate system established according to the
robot’s surrounding environment; R is the local coordinate system established
with the geometric center at the bottom of the robot as the origin; L is a local
coordinate system based on the geometric center of lidar. PRW represents the
vector of real-time position of frame R in frame W; PLR is a vector representing
the real-time position of frame L in frame R, and is a constant vector; PBL
represents the vector of real-time position of point cloud data Bin coordinate
system L.
Coordinate transformation is a very important link for robot localization and
mapping. PLR is known as a constant vector, while PBL can be easily obtained by
lidar. In this way, a new vector PBR can be obtained by combining two vectors.
Since vector PRW is also easily obtained through inertial measurement units and
motor encoders, the desired final coordinate PBW can be obtained by combining
vector PBR with vector PRW. The specific process of coordinate transformation is
shown in Figure 3.

2.3. Detailed Design

For the self-localization and mapping function of the security robot, the acquisi-
tion of environmental point cloud information and odometer information is the

Figure 2. Robot correlative coordinate system.

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F. X. He, L. Y. Zhang

Figure 3. Coordinate transformation process.

most basic. The specific implementation process is as follows:

1) Odometer and imu (Inertial measurement unit) data fusion: The nine-axis
gyroscope acquires the original imu data (acceleration, orientation angle, etc.)
and transmits it to the drive board. The imu data is obtained through the imu
data cleaning operation. At the same time, the motor encoder also returns the
rotational speed information of the robot and obtains the original odometer in-
formation by integrating the linear velocity and angular velocity. Combining
imu data and original odometer information, Kalman filter is used to get more
accurate odometer information. Then the AMCL (Adaptive Monte Carlo Loca-
lization) is used to estimate and correct the position. The probability of the ro-
bot’s position in the map is calculated by obtaining radar data and map data
through particle filter estimation. The comprehensive odometer information can
better obtain the localization information of the robot, which makes the localiza-
tion of the car in the map more accurate.
2) Coordinate transformation: Since the position of the coordinate system R
in the coordinate system W is known (origin or other positions), it is easy to ob-
tain the value of the vector PRW by calculating and transforming the coordinates
according to the information such as speed and position during the robot’s
movement. Moreover, since the position of the coordinate system R is always in
the center position at the bottom of the robot, the position of the robot in the
coordinate system W is easy to obtain [16].
3) Robot localization and mapping: The robot first obtains the position in-
formation of the environmental point cloud in the coordinate system L by using
Lidar, and then the information is further converted into the environmental
point cloud information in the coordinate system W by coordinate transforma-
tion. After obtaining the environmental point cloud information, imu data,
coordinate information obtained by coordinate transformation and odometer
information obtained by data fusion, the robot releases the information. By
subscribing to such information and synthesizing it, GMapping can build a
two-dimensional raster map on the basis of such data information and realize
self-localization operation at the same time. The specific process is shown in
Figure 4.
4) Autonomous navigation: The most important navigation algorithm is the
move_base path planning algorithm. It first subscribes to lidar, map and posi-
tioning information, then plans the global path and local path, and then trans-
forms the path information into speed and other related information through

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 F. X. He, L. Y. Zhang

Figure 4. Flow chart of robot localization and mapping.

corresponding processing, and finally realizes robot navigation.

3. Design of Object Detection Function

In addition to autonomous positioning and navigation in the corresponding
scene, the security robot also needs to complete the visual perception of the sur-
rounding environment. This chapter describes the implementation process of
the object detection function: the YOLOv3 model is trained by self-made data
set, and it is applied to the darknet_ros function pack.

3.1. YOLO Object Detection Algorithm

YOLOv1, as the earliest version of YOLO series, was far faster than other algo-
rithms at that time, although its detection accuracy was not very high and there
was a limit of detection quantity when detecting small objects. YOLO combines
detection problem into a regression problem, and only needs a convolutional
neural network to realize end-to-end object detection, which is also the core idea
of YOLOv1 [17]. Compared with Faster R-CNN and ResNet detection methods,
YOLOv2 detection is faster. By mixing the data of detection data set and classi-
fication data set, this new joint training method can complete the expansion of
classification and training set, which can greatly accelerate the detection speed
[18]. YOLOv2 uses ImageNet classification data set to learn classification infor-
mation, and COCO detection data set to learn object location detection. With
the help of normalization and other technologies, the performance of YOLOv2
model has been greatly improved. The performance comparison between Yo-
loV2 model and neural networks such as Fast R-CNN is shown in Table 1.
YOLOv3 algorithm is the most commonly used object detection algorithm at
present. Compared with YOLOv2, the Darknet-53 network is designed based on
Yolov3 algorithm, especially the main network part of the algorithm, and the
FPN structure design is realized at the same time. YOLOv3 not only maintains a
much faster speed than other algorithms, but also far exceeds other One-stage
algorithms in terms of recognition accuracy, especially the detection ability of

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F. X. He, L. Y. Zhang

Table 1. Performance comparison between YOLOv2 and other neural networks.

Data and Performance

Model Mean average Speed of
Training set
accuracy/% detection/FPS

Fast R-CNN VOC 2007 + 2012 70.0 0.5

Faster R-CNN VGG-16 VOC 2007 + 2012 73.2 7
Faster R-CNN ResNET VOC 2007 + 2012 76.4 5
YOLO VOC 2007 + 2012 63.4 45
SSD300 VOC 2007 + 2012 74.3 46
SSD500 VOC 2007 + 2012 76.8 19
YOLOv2 288 × 288 VOC 2007 + 2012 69.0 91
YOLOv2 352 × 352 VOC 2007 + 2012 73.7 81
YOLOv2 416 × 416 VOC 2007 + 2012 76.8 67
YOLOv2 480 × 480 VOC 2007 + 2012 77.8 59
YOLOv2 544 × 544 VOC 2007 + 2012 78.6 40

small objects has been greatly improved [19]. The YOLOv3 loss function is as
follows,

(
 b − bˆ
) + (b ) + (b ) + (b ) 
2 2 2 2
∑i ∑
S2
=L λcoord= − bˆy − bˆw − bˆh
B obj
1
0=j 0 i , j  x x y w h

∑i
+=
S2 B
∑ obj
1  − log ( pc ) + ∑ n BCE ( cˆi , ci )  (1)
0=j 0 i , j  =i 1 

∑i ∑  − log (1 − pc )  ,
S2
+ λnoobj=
B noobj
0=j 0 i , j
1

where: S is the number of grids, that is, S2 is 13 * 13, 26 * 26 and 52 * 52; B is for
box; 1iobj
, j means that if the box has a target object, its value is 1, otherwise it is 0;

1inoobj
,j means that if box has no object, its value is 1, otherwise it is 0; BCE (Bi-
nary Cross Entropy) is calculated as follows,
BCE ( cˆi , ci ) =−cˆi ∗ log ( ci ) − (1 − cˆi ) ∗ log (1 − ci ) , (2)

3.2. Model Training

To realize the object detection function, the Darknet framework should be in-
stalled first. Meanwhile, CUDA and OpenCV should be installed by modifying
relevant parameters in the makefile file. Then, download the pre-training model
on the official website of YOLO. After the download is complete, run the pro-
gram, and then observe the entire network structure and the output. Darknet
uses two txt files as training data, one is used to record paths and the other is
used to record the location of marked targets. However, before generating them,
it is necessary to ensure that there are well marked VOC data. The method to
generate marked data and VOC2007 data format is relatively simple. After the
installation of Anaconda software, LabelImg tool and Qt framework, images can
be annotated. After the annotation is completed, VOC2007 format data can be

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 F. X. He, L. Y. Zhang

made and corresponding configuration files can be modified, focusing on the

modification of the number of categories under YOLO node and the number of
filtering of the convolution layer. Then, the pre-training weight is downloaded
and the skeleton network is extracted to carry out the model training. The train-
ing process is shown in Figure 5.
The change curves of loss (loss function) and Avg_IOU (Average Intersection
overUnion) during model training are shown in Figure 6 and Figure 7.

3.3. Implementation Details

First, create a new ROS workspace, and then complete the darknet_ros package
download from the workspace using git clone command on the terminal. Then
the project compilation work will be carried out, during which the weights file in
the weights folder will be checked. Since the YOLOv3 model training has been
completed previously, it is only necessary to copy the previously trained weights
file to this folder. Before darknet_ros carries out the detection work, it first

Figure 5. Model training process.

Figure 6. The change curves of loss.

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F. X. He, L. Y. Zhang

Figure 7. The Region Avg_IOU curves.

installs a function pack that can publish image topics. usb_cam package can
publish the images read by the camera as image topics. After the camera driver
package is downloaded, the image topic can be released by running the launch
file, and the camera display interface can be observed on the PC virtual machine.
Finally, the topic subscribed by darknet_ros corresponds to the topic released by
usb_cam through modification of the configuration related to the function pack.
At this time, the launch file corresponding to the function pack can be executed
for object detection.

4. System Test and Results

4.1. Testing of Localization, Mapping and Navigation
In order to test various functions of the indoor security robot, it is necessary to
define the test scene, which is selected as the school dormitory. The specific
scene environment is shown in Figure 8.
After connecting the Ubuntu VM to the robot system using SSH (Secure Shell
Protocol), perform imu calibration. For drawing construction, firstly start the
bringup.launch file, run the necessary hardware components for drawing con-
struction, and obtain the necessary data information; Then launch the li-
dar_slam.launch file to run the slam function pack; Then open the rviz visualiza-
tion tool and keyboard control node, and open the slam.rviz file in the rviz tool
to observe the real-time map construction process. The 2D raster map con-
structed by keyboard control is shown in Figure 9, which is roughly the same as
the actual test scenario. The initial position and navigation route of the robot

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 F. X. He, L. Y. Zhang

Figure 8. The test scenario.

Navigation routes

Robot

Figure 9. The 2D raster map.

have been marked with red circles and blue arrows respectively, which are con-
sistent with the actual position and movement of the robot in the test scene.
After the map is built and saved, the 2D raster map can be used for navigation.
Start file bringup.launch first, then start file navigate.launch after data informa-
tion can be obtained, run path planning package move_base, and then start the
rviz tool. Open file navigate.rviz inside, and the 2D raster map saved before ap-
pears. At this time, navigate through the upper toolbar.

4.2. Testing of Object Detection Function

First, enter the catkin_workspace, run the usb_cam-test.launch file to release the
camera image topic, and check whether the camera can work normally. After the
camera works normally, run the darknet_ros.launch file to test the target detec-
tion function. After the darknet_ros.launch file is successfully run, the target de-
tection function will be formally tested. The test results are shown in Figure 10
and Figure 11.
The VOC data test set we produced contained 4952 images with a total of 20
object categories. The predicted number of objects per class are shown in Figure
12. AP (Average Precision) And Map (Mean Average Precision) as shown in
Figure 13.

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F. X. He, L. Y. Zhang

Figure 10. The first test result.

Figure 11. The second test result.

As can be seen from Figure 12, the trained YOLOv3 model has a high accu-
racy and meets the basic usage requirements of indoor security robots.

5. Conclusion
In this paper, a ROS-based indoor security robot system is designed and imple-
mented, and the function and reliability of the system are well guaranteed
through complex environment configuration, programming and model training.
The system can make full use of the robot’s laser radar, imu and other sensors to
make the robot’s positioning, mapping and navigation more accurate and stable.
At the same time, because of the YOLOv3 model with good training effect, the
robot’s usb camera can be used to complete relatively accurate target recognition.

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 F. X. He, L. Y. Zhang

Figure 12. Number of objects per class.

Figure 13. AP and mAP.

Moreover, the positioning, navigation and target detection functions can be

combined, so that the robot can complete the target detection task in the naviga-
tion process. In the future, we will continue to optimize the structure of the sys-
tem and the coordination and cooperation between the two functions, and im-
prove the performance of the navigation algorithm and the object detection al-
gorithm. For example, we will integrate the object detection function into the
positioning and navigation function, identify obstacles in the process of move-
ment through the object detection, and further transfer the data to the naviga-
tion function package, so as to optimize the path planning. The robot system has
the navigation function of automatic obstacle avoidance.

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F. X. He, L. Y. Zhang

Acknowledgements
During my research, many teachers and partners gave me help and support, es-
pecially my supervisor, Mr. Zhang Liye. I would like to thank them all here.

Fund
This work was supported by the (National Natural Science Foundation of China,
Research on WiFi indoor localization System based on image assistance) under
Grant (number 62001272) and the (Natural Science Foundation of Shandong
Province) under Grant (number ZR2019BF022).

Conflicts of Interest
The authors declare no conflicts of interest regarding the publication of this pa-
per.

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DOI: 10.4236/jcc.2023.115008 107 Journal of Computer and Communications