Abstract
Building intelligent behaviors is an important aspect of developing a robot for use in security monitoring services. Simulating and testing the robot behavior in a virtual environment prior to producing the robot and then conducting practical experiments can greatly reduce the cost and duration of the testing process. This research proposes a framework for the simulation of security robots, called the security robot simulator (SRS), which is aimed at providing a fully inclusive simulation environment from fundamental physics behaviors to high-level robot scenarios for developers. Human simulation is also integrated into the robot simulator for simulating interactions between the security robot and human personnel. The simulator was implemented in Microsoft Robotics Developer Studio (MSRDS), a services oriented robotics platform composed of a simulation core and four decentralized modules: scenario event, patrol planner, robot unit, and civilian modules. The results show that the four modules fulfill the requirements of a security robot.
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