427
Indonesian Journal of Science & Technology 6 (2) (2021) 427-440

Indonesian Journal of Science & Technology
Journal homepage: http://ejournal.upi.edu/index.php/ijost/

Embedded Design and Implementation
of Mobile Robot for Surveillance Applications
Abdulkareem Sh. Mahdi Al-Obaidi1,*, Arif Al-Qassar2, Ahmed R. Nasser2, Ahmed Alkhayyat3, Amjad J.
Humaidi2,Ibraheem K. Ibraheem4
1

School of Computer Science and Engineering, Faculty of Innovation and Technology,
Taylor’s University, Taylor’s Lakeside Campus, Subang Jaya, Selangor DE, Malaysia.
2
Control and Systems Engineering Department, University of Technology, Baghdad, Iraq.
3
College of Technical Engineering, The Islamic University, Najaf, Iraq
4
University of Baghdad, College of Engineering, Electrical Engineering Dept Baghdad, Iraq.
Correspondence: E-mail: abdulkareem.mahdi@taylors.edu.my

ABSTRACT

The surveillance and security of areas such as home,
laboratory, office, factory, and airports, are important to
prevent any threatening to human lives. Mobile robots are
proven their effectiveness in a large number of applications,
especially in hazardous areas where they can be remotely
controlled by humans to accomplish certain tasks. This
research paper presents a design and implementation of a
mobile robot for surveillance and security applications. The
main objective of the design is to lower the cost and the
power consumption of the mobile robot which accomplish
using low-cost open-source hardware such as Arduino and
Raspberry Pi. The robot is connected wirelessly via a lowpower ZigBee module to the control station to allow the
operator for controlling the mobile robot motions and
monitoring the physical events in the environment where the
robot is used. Sensors such as camera, temperature, and
range are embedded in the robot to sense and monitor
human motion, the room temperature, and the distance of
the surrounding obstacles. The testing of the implemented
mobile robot shows that it can run continuously for
approximately 6.5 hours at a motor shaft speed 25 rpm of
unlit the need to recharge the battery.
© 2021 Tim Pengembang Jurnal UPI

ARTICLE INFO
Article History:
Submitted/Received 28 Apr2021
First revised 28 May 2021
Accepted 01 Jul 2021
First available online 03 Jul 2021
Publication date 01 Sep 2021
____________________

Keyword:
Mobile robot,
Security,
Surveillance,
Wireless control

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1. INTRODUCTION
In practice, robots are electromechanical
systems that have sensors to control their
environment, process units that process the
information from these sensors and produce
results, and motion mechanisms that can
transfer the results of the process to the
output. Robots can be divided into two main
parts as mobile and non-mobile robots
(Humaidi et al., 2019). If the working volume
of a robot does not move according to a
reference coordinate system, this robot is
called a non-mobile robot, if it is moving, this
robot is called a mobile robot (Chen et al.,
2018).
Mobile robots can be used in many areas
such as the cleaning of toxic and nuclear
wastes, the disposal of explosives, the
transportation of biological wastes, as a
service robot in quarantined environments,
cleaning the outer windows of high buildings,
locating and removing and transporting
mines, construction of space stations,
underwater search and rescue, human
rescue
in
earthquakes
and
part
transportation in factory production lines
(Ajeil et al., 2020a, Humaidi ., 2018). Another
important area of using mobile robots is
surveillance and security applications of
indoor environments, such as warehouses,
airports, and production plants. In such
applications, the mobile robot can interact
with humans and other robots to monitor the
environment and trigger an alarm when an
abnormal event is occurred (Park et al.,
2018).
The aim of this research paper is to design
and implement a cost-effective and easy-touse wirelessly controlled embedded mobile
robot suitable for remote surveillance and
security applications. The paper is organized
as follows: Section 2 provides a brief
literature review of the mobile robot and its
applications. Section 3 describes the mobile
robot design presented by this paper in both
hardware and software aspects. Section 4

includes the testing results of the robot and
the conclusion
2. LITERATURE REVIEW
The are many studies in the literature
considering the design of mobile robots for
different applications, some of these studies
are summarized as follows.
Raj et al., 2018 discussed safety
precautions in fire accidents in areas such as
laboratory, home, office, factory, and
building. They emphasized that since
explosive or flammable materials may be
found in these places which can lead to fire
accidents, these accidents can be prevented
by taking safety measures. Robots are
considered as one of the best and effective
ways to take these safety measures. So, they
developed a rescue robot to detect fire using
a camera sensor and Image processing.
Liu et al., 2017 studied how much
improvement the error rate of data obtained
from multiple sensors in multi-mobile robot
patrol observation systems in a simulated
environment. The robots are interconnected
wirelessly. They used a different combination
of laser, ultrasonic, and camera sensors, to
collect the data from the environment which
simulated
using
Microsoft
Robotics
Development Studio.
In the study carried out by (Nasrinahar et
al., 2018), an obstacle avoidance approach is
considered for mobile robots for hazard
areas that not accessible by humans. In these
areas where people cannot enter, it is
possible for robots to easily move and
perform any task, by reaching the desired
places without hitting any obstacles in that
area. A search algorithm is considered to find
the optimal path for the mobile robot to
reach without hitting the obstacles in the
environment (Ajeil et al., 2020b).
Boufera et al., 2018 proposed a hybrid
approach with fuzzy logic to overcome the
obstacles of mobile robots in an
undetermined environment. The basic limit
conversion method has been developed to
achieve safe and flexible navigation. By
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reducing the number of direction changes
during avoidance, can make the avoidance
more flexible (Azar et al., 2021). The
proposed algorithm has been successfully
tested in different configurations on the
simulation.
López et al., 2016 presented an opensource, low-cost (35 euro), modular and
expandable mobile robot. open-source
devices and software such as Android and
Arduino-based are used to design the robot.
The mobile robot is designed to be used in
distance education and large open online
courses as an alternative to traditional visual
laboratories where it can be used in
classroom environments or laboratories.
Ibari et al., 2016 designed different
algorithms for mobile robot navigation
systems. Fuzzy logic and genetic algorithms
are used in some algorithms. Lightweight
Telepresence robots require simpler and
more intensive computational algorithms
(Najm et al., 2020). Especially the odometry
algorithm has been preferred to meet this
need. The anti-barrier feature is designed to
improve the algorithm. Arduino UNO, two DC
motors, and an ultrasonic sensor have been
used to prototype the mobile robot.
One of the important areas of using
mobile robots it is surveillance and security
applications. In Lopez et al., (2017), a mobile
robot called Airport Night Surveillance Expert
Robot (ANSER) is designed to use in
surveillance applications in civilian airports
and similar wide areas. The robot can be
controlled by a human operator in a fixed
supervision station to monitor the activities
and the events in these areas.
Trovato et al., 2017 designed a mobile
Robotic Security Guard and implemented it
for remote indoor security applications. The
robot is used to patrol the environment and
watch valuable objects, to recognize people
and to provide the operator with a detailed
analysis of captured data.
Another example of a security robot is
called MARVIN (Mobile Autonomous Robotic

Vehicle for Indoor Navigation) is designed as
an indoor security agent. The robot is
equipped with speech synthesis and speech
recognition and conveys emotional states in
order to intact with humans (Carnegie et al.,
2004).
Following this trend of mobile robot
applications, a low-cost low power
consumption wirelessly controlled mobile
robot is designed in the current research
paper for surveillance and security
applications.
3. MOBILE ROBOT DESIGN
The design of the mobile robot presented
in this paper is divided into two parts. The
first part covers the hardware design of the
robot, and the second part covers the
software development for controlling the
robot.
3.1. Hardware Design
The hardware used to design the mobile
robot in this paper consists of the following
components:
Robot Driver Unit, ZigBee wireless
module,
Sensors,
Camera
Module,
Microcomputer
and
Micro-controller
(Raspberry Pi and Arduino) and PC. The
details for each part used in designing the
mobile robot is described as follows;
3.1.1. Robot Driver Unit
The robot driver unit is responsible for
robot movement in the x-axis and y-axis. The
robot consists of four wheels to help to
manoeuvre over slant and level terrains. Each
wheel is driven independently by its own DC
motor which is used to control the
movement direction of the robot as
illustrated in Figure 1. The speed and the
rotation direction of each 12-V Dc motor are
control via L293D motor driver IC. The
maximum speed of each motor is 95 rpm
(Cardeira et al., 2005).
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Figure 1. Robot movement direction based on the motor movement of each wheel.
3.1.2. Arduino Microcontroller
Arduino is a physical programming
platform consisting of an I/O board and
development environment that includes an
implementation of the Processing/Wiring
language. Arduino can be used to develop
stand-alone interactive objects or can be
connected to software running on the
computer (such as Macromedia Flash,
Processing,
Max/MSP,
Pure
Data,
SuperCollider). Ready-made cards can be
purchased, or information on hardware
design is available for those who want to
produce them themselves.
In terms of hardware, the Arduino cards
consist of an Atmel AVR microcontroller
(ATmega8 or ATmega168 in the old cards,
ATmega328 in the new ones) and the side
elements required for programming and
connection to other circuits. Each card has at

least a 5-volt regulated IC and a 16 MHz
crystal oscillator. Since a bootloader program
is pre-written to the microcontroller, no
external programmer is required for
programming.
In terms of software, Arduino IDE is an
application written in Java programming
language that acts as a code editor and
compiler, can also load the compiled
program to the card, and can work on any
platform. The development environment
was developed based on the Processing
software developed to introduce artists to
programming (Araújo et al., 2015).
In the context of the robot design in this
work, the Arduino microcontroller is used to
retrieve the robot movement command sent
by the operator and transit it into signals
used to drive robot motors. Figure 2 shows
the schematic diagram of using Arduino to
drive the robot motors.

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1

2

VCC

TX

GND

RX

4

5

ZigBee
U1
30
31
32
1
2
9
10
11
20
18
19
22

PD0/RXD/PCINT16
PB0/ICP1/CLKO/PCINT0
PD1/TXD/PCINT17
PB1/OC1A/PCINT1
PD2/INT0/PCINT18
PB2/SS/OC1B/PCINT2
PD3/INT1/OC2B/PCINT19
PB3/MOSI/OC2A/PCINT3
PD4/T0/XCK/PCINT20
PB4/MISO/PCINT4
PD5/T1/OC0B/PCINT21
PB5/SCK/PCINT5
PD6/AIN0/OC0A/PCINT22 PB6/TOSC1/XTAL1/PCINT6
PD7/AIN1/PCINT23
PB7/TOSC2/XTAL2/PCINT7
AREF
AVCC

PC0/ADC0/PCINT8
PC1/ADC1/PCINT9
PC2/ADC2/PCINT10
PC3/ADC3/PCINT11
PC4/ADC4/SDA/PCINT12
PC5/ADC5/SCL/PCINT13
PC6/RESET/PCINT14

ADC6
ADC7

12
13
14
15
16
17
7
8
23
24
25
26
27
28
29

ATMEGA328P

B1

Microcontroller

12V

DC MOTOR

3
6

8

16

OUT1 VS
OUT2

VSS

U2
2
7
1

IN1
IN2
EN1

11
14

OUT3
OUT4

GND

DC MOTOR

Motor Driver

9
10
15

EN2
IN3
IN4

L293D

Figure 2. Motor driving using a microcontroller.

3.1.3. Sensors
A sensor electronic device is used to
convert a physical quantity into a signal
which can be read by an instrument or by a
monitoring device. Two sensors are used in

the current design. The first sensor is the
Ultrasonic sensor which is described as
follows. In the classification of sound waves,
sound signals in the range of 20 kHz - 1GHz
are defined as ultrasonic sound. Many
ultrasonic sensors produce ultrasonic sounds
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at a frequency of 40 kHz. The important
factor here is the frequency that determines
the loudness of the sound. If the sound is
high, it is louder in frequency. Human ears
cannot detect ultrasonic sound signals. The
transducer transmits the ultrasonic pulse.
The impact is reflected from the deflection
and received by the transducer. The travel
time of the impact is proportional to the
distance of the deflection from the sensor.
This sensor is used to detect the distance
between the robot and obstacles in front of
the robot.
The second sensor is the temperature
sensor and its described as follows. A
temperature sensor (DS18B20) is a digital
sensor with a single line (1-Wire) interface
that has a 64-bit serial code. It can measure
temperatures from -55 °C to + 125 °C with a
9-bit - 12-bit resolution. The maximum
measurement and cycle time for 12-bit is 750
ms. It is used for fire detection in an area
where the robot is moving (Bhatia et al.,
2011).
3.1.4. Raspberry Pi Minicomputer
The Raspberry Pi circuit board used in this
design is the only credit card-sized card
computer developed by the Raspberry Pi
Foundation in the UK to teach computer
science in schools. The Raspberry Pi, which is
mostly used in embedded system
applications and applications requiring an
operating system, is frequently preferred
because it can be developed independently
from a computer and easily portable
systems. Raspberry Pi is released in various
models with some hardware changes.
The B+ model of the Raspberry Pi circuit
board, whose hardware units operate based

on Broadcom BCM2835 SoC (System on Chip
- System on Chip), includes a single-core
ARM1176JZ-F 700 MHz processor unit with
ARMv6 architecture. With the VideoCore IV
graphics processing unit in Broadcom
BCM2835 SoC and this Raspberry Pi card with
512 MB RAM, most operations can be
performed on a normal computer, including
high-resolution video playback, can be
performed. There is no internal hard disk on
which the operating system can be installed,
and data can be stored on this board, which
can be used as a mini-computer by
connecting a keyboard, mouse, and display.
For this, the operating system can be
installed after the memory card is inserted
into the microSD card slot on the card and
the desired data storage operation can be
performed. Raspberry Pi B + model cannot
run Windows operating systems since it has
ARMv6 architecture. For this, Linux operating
systems designed for Raspberry Pi should be
downloaded from the website of the
manufacturer foundation and installed on
the memory card. The Foundation's website
has Linux operating systems such as Raspbian
(based on Debian Wheezy) and Pidora (based
on Fedora) (Bokade et al., 2016).
In the robot design, the Raspberry Pi is
used as the main processing unit which
connected the sensors of the robot as shown
in Figure 3. The Raspberry Pi also interfaced
with the ZigBee wireless module to provide
comminution between the robot and the
controlling device. In addition, the camera
module with 5MP resolution, designed to be
directly connected to the CSI connector on
the Raspberry Pi circuit board, and it used to
capture live video of the environment and
steams it to the controlling device.

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26.0

Temprture Sensor

3
2
1

VCC
DQ
GND

DS18B20

U1
29
31
32
33
36
35
38
37
40
8
10
3
5

GPIO5
GPIO6
GPIO12
GPIO13
GPIO16
GPIO19
GPIO20
GPIO26
GPIO21

GPIO4/GPIO_GCLK
GPIO17/GPIO_GEN0
GPIO18/GPIO_GEN1
GPIO27/GPIO_GEN2
GPIO22/GPIO_GEN3
GPIO23/GPIO_GEN4
GPIO24/GPIO_GEN5
GPIO25/GPIO_GEN6

GPIO14/TXD0
GPIO15/RXD0
GPIO2/SDA1
GPIO3/SCL1

GPIO10/MOSI
GPIO9/MISO
GPIO11/CLK
GPIO8/SPI_CE0
GPIO7/SPI_CE1

7
11
12
13
15
16
18
22
19
21
23
24
26

R1
2k

RPI0

Raspberry Pi + Camera Module

HCSR04

5
3
2
1

Ultrasonic Sensor

GND
TR
ECHO
VCC

49.0

Figure 3. Raspberry pi connections with temperature and ultrasonic sensors.

3.1.5. Wireless ZigBee
ZigBee networks consist of standards
consisting of IEEE 802.15.4 standard-based
wireless short-range, a set of communication
protocols
providing low-speed
data
communication. ZigBee gets its name from
the complex zig-zag movement that bees
make as they move between flowers. This
zig-zag structure symbolizes communication
between nodes in the communication
network. The organization called ZigBee
Alliance, which formed ZigBee, is an
association formed by global technology
companies such as Philips, Motorola, and
Intel in 2002. ZigBee-based wireless devices
operate at frequencies of 868 MHz, 915 MHz,
and 2.4 GHz. The highest data rate that can
be reached is 250 kB/s. ZigBee generally

targets battery-based applications based on
low speed, low cost, and long battery life. In
many applications, the activities of ZigBee
equipment are very limited. Equipment
generally operates in a low power
consumption mode, also known as sleep
mode. Therefore, ZigBee equipment is
capable of working for years without the
need for a battery change (Bharathi et al.,
2013).
Based on the advantages of the ZigBee of
low power consumption, wide range, and
speed, it is utilized for providing the remote
controlling and monitoring capability for the
robot design. Figure 4 shows a block diagram
of using ZigBee to provide the
communication between the robot and the
controlling device wirelessly.
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Figure 4. ZigBee wireless commutation for the robot and the controlling device.
The general block diagram of mobile robot
design based on the ATmega328
microcontroller and Raspberry Pi is shown in
Figure 5.
The operation of each part used in the
mobile robot design is described as follows:
• The robot monitoring the temperature
and the ultrasonic sensors and in case of
discovering any anomalies the robot sends
an alarm signal from the Raspberry Pi to
the master controlling computer.
• The Raspberry Pi captures the video from
the camera and streams it to the master

controlling computer to allow the
operator to monitor the environment.
• On the remote side (PC) the controlling
software allows the operator to control
the movement of the robot via sending a
set of commands to enable or disable the
motors on the robot.
• On the remote side (PC) the controlling
software allows the operator to monitor
the environment via the received live
video from the robot’s camera.
• The communication between the robot
and the controlling and monitoring device
is established wirelessly via ZigBee.

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Figure 5. The general block diagram of the robot design.

3.2. Robot Software Development
The software used to control the robot is
divide into two parts robot side software and
remote controller side software.
3.2.1. Robot Side Software
The robot side software is responsible for
the following tasks:
• Reads the sensors that are connected to
the robot and reports its values to the
control software at the operator’s side.
• Captures live video for the environment
from the camera that is mounted on the
robot and streams it to the monitoring
software at the operator’s side.
• Receives the movement commands from
the control software at the operator’s side

and translates them into a motion in the
robot’s motors.
The flow diagram for the robot-side
software is shown in Figure 6.
3.2.2. Control Device-Side Software
The controller side software is responsible
for the following tasks:
• Receives sensors values the acquired by
the robot and display it to the operator.
• Receives live video of the environment
that the robot in and displays it to the
operator.
• Sends movement commands to the robot
based on the operator controlling as
showing in Figure 7.
The flow diagram for the robot-side
software is shown in Figure 8.

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Figure 6. The flow diagram for software inside the robot.

Figure 7. Mobile Robot control software from PC.

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Figure 8. The flow diagram for software inside the controlling device for the robot.
4. RESULTS AND CONCLUSION
Based on the design proposed by this
research paper, the mobile robot is
practically built and implemented. After
building the mobile robot it was tested in the
environment practically. Figure 9 shows the

robot in action when it is controlled
wirelessly by the operator.
During the test, the robot is powered by a
12V lithium polymer LiPo battery pack with a
capacity of 6000 mAh and based on the
motor shaft speed the robot running time is
calculated as shown in Table 1.

Figure 9. The robot and control operator in action.
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Table 1. Robot running time based on the motor's speed.
Motor
Speed
(rpm)
95
45
25
10

Motor
current
(A)
0.7
0.35
0.17
0.1

Raspberry
Pi current
(A)
0.25
0.25
0.25
0.25

Total current
(4* Motor current+
Raspberry Pi current) (A)
3.05
1.65
0.93
0.65

From testing results in Table 1, it is
shown that mobile robot can run for a
reasonable time at medium and low motor
shaft speeds before it needs recharging. The
speed of the robot itself can be increased
using a gearbox to ensure low power
consumption and increase the run time.
Noting that, due to the very low current
consumption of the other component such
as sensors and ZigBee, it was not taken into
considerations when calculating the total
current consumption of the robot. This
paper presented the design and
implementation of a wirelessly controlled
mobile robot for security and surveillance
applications. The goal of the design is to
achieve a lower cost and power efficiency.
The objective is achieved by designing the
robot using easy-to-find low-cost opensource components as well as selecting a

Approximated
Full-Running
time (Hours)
2
3.6
6.5
9

wireless communication module (ZigBee)
with very low power consumption. The
robot is implemented and tested partially.
This study can be extended to apply
advanced control and optimization
techniques to enhance the tracking
performance of mobile robot or to improve
the path planning performance of mobile
robot (Ajeil et al., 2020c, Ibraheem et al.,
2020). In addition, the navigation of mobile
robot can be developed by including the
technology of FPGA instead of Raspberry
(Humaidi et al., 2020).
5. AUTHOR’S NOTE
The author(s) declare(s) that there is no
conflict of interest regarding the publication
of this article. Authors confirmed that the
data and the paper are free of plagiarism.

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