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Abstract
Home Security Systems (HSSs) have received much attention and have been widely adopted for practical deployment. However, detection and warning accuracy still need to be improved, along with the range of the realm, making it challenging to satisfy the user demands. This study proposes a security monitoring system based on mobile robots and the Internet of Things (IoT), allowing users to monitor and control devices remotely. The mobile robot integrated sensor systems and surveillance cameras are utilized for unauthorized early intrusion detection and to give users instant warnings. The data collected by the robot were stored on the Firebase Cloud server, and a mobile application and a Telegram interface were integrated to manage and control the system. In addition, adaptive motion control was adopted to correct errors in the robot’s trajectory. The implementation results proved that this system operated effectively with a minimal response delay of 0.87–1.67 s and a high detection accuracy (96.25%) in two experimental cases, which makes it suitable for real-time applications.
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