Design of a miniature autonomous surveillance robot

The small size of miniature robots poses great challenges for the mechanical and electrical design and the implementation of autonomous capabilities. In this paper, the mechanical and electrical design for a two-wheeled cylindrical miniature autonomous robot ("BMS-1", BIT MicroScout-1) is presented and some autonomous capabilities are implemented by multiple sensors and some arithmetic models. Several experimental results show that BMS-1 is useful for surveillance in confined spaces and suitable for large-scale surveillance due to some autonomous capabilities.