# Moving Object Tracking and Its Application to an Indoor Dual-Robot Path
## 3 Control Scheme
The RFID will verify the destination again and make sure it is true. When the robot is 500 mm away from the door, the robot will turn to patrol the corridor. When an object appears in the corridor and is intercepted, an image of the object will be transmitted to the control center via Wi-Fi. Staff in the control center can check the object; if it is an intruder they will send a security guard to the scene to ensure safety. If the object is not an intruder, the robot will return to the starting position along the planned route. A team with two robots is presented in this subsection. These two robots use the same path planning and tracking control scheme. When the first robot finds the intruder, the robot will send a warning message to the control center in the remote site and to the second robot. The second robot acts as a backup security guard. Figure 17 shows the initial setup and experimental environment with the starting location and destination room given. In Figure 18, the target door is not detected at the initial position, so the robot will turn left to face the door. When DL section detects the target, the robot turns left and moves forward. If the DR section detects the target, the robot turns right. When the DM section detects the target, the robot stops turning and moves forward to the door, as shown in Figure 19.  
Figure 14: Fuzzy sets. Figure 13: Ultrasonic sensors. Figure 15: Flowchart of control sequence. The RFID reader and tag are applied to verify the destination. When omnidirectional WMR approaches a door, the RFID reader will check the tag's UID. Each RFID tag has its own UID code. Each UID corresponds to a certain room number. A tag posted on the door is shown in \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]0  
In Figure 21, the RFID reader will read the tag UID to verify the destination at a specified distance. If it is the destination, the robot will move forward to the door. Figure 22 shows that the robot turns right if RFID verifies the correct result. In Figure 23, the webcam and ultrasonic sensor will verify the destination at a specified distance. If it is the destination, then the second robot will move forward to the door. Figure 24 shows the second robot turning right after the webcam verifies the correct result. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]1 (a) Ultra High Frequency (UHF) RFID reader MT-RF800-BT and (b) UHF tag. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]2 Initial setup and experimental environment. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]3 The robot turns left; the DM detects the target; and the robot moves forward to the predefined door. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]4 Target is not detected, thus the robot turns left to find the room color. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]5 RFID verifies the destination at a specified distance. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]6 Tag posted on the door. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]7 An ultrasonic sensor measures the distance between the robot and the door. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]8 If the verification result is positive, the robot turns right. In Figure 25, the second robot moves forward along the wall. If the robot is too close to the wall, the WMR will be controlled to move away from the wall. Figure 26 shows a robot in the corridor environment. \[v_{3}=\sin\left(\alpha\right)v_{m}. \tag{17}\]9 If the verification result is positive, the second robot turns right. Figure 13.0 The second robot moves forward along the wall. In Figure 27, twin robots patrol the corridor and check whether there is an intruder or not. At the other end of the corridor, a man walks in front of the robot. The proposed control scheme can detect environmental colors and find the intruder. When an object appears in the corridor and is intercepted, the image of the object and an alarm signal will be transmitted to the control center and to the second robot via DataSocket server connection IP address and Wi-Fi, as shown in Figures 28 and 29.