# Moving Object Tracking and Its Application to an Indoor Dual-Robot Path
## 4 Experimental Results  
This experiment presents a twin robot indoor patrol. There are six steps in the control sequence: (1) Search for a predefined target and track a designated door; (2) Correct the direction and recognize the first room color; (3) Approach the first room and verify via RFID; (4) Move forward along the wall; (5) Detect an object; (6) Send a message to the control center. Communications of WMR, notebook, control center, and mobile phone are shown in Figure 31.  
The proposed control scheme detects environmental colors and finds intruders. When an object appears in the corridor and is intercepted, an image of the object and an alarm signal will be transmitted to the remote control center and to the user's mobile phone via Wi-Fi, as shown in Figure 32.  
When the first robot detects an intruder, an alarm message will be sent to the second robot, as shown in Figure 33. After receiving the alarm message, the second robot starts image processing and sends a captured intruder image to the control center. Data transmitting times of moving objects by different Wi-Fi stations are shown in Table 3.  
When the robot finds the destination door, the next step is to recognize the room color. If the room color is verified then the robot moves forward and approaches the door. If the tag UID of the room is reconfirmed, the robot will turn and move along the wall and search for moving objects. Figure 34 shows the dual-robot pat  
Figure 31: Communication sequence.  
Figure 32: The first robot sends instant images to the control center and to the user’s smartphone. (**a**) Smartphone receives notification message about the intruder; (**b**) remote control center receives notification message about the intruder.  
Figure 34: _Cont._  
Figure 33: First robot sends alarm message to the second robot. (**a**) Robot 1 initial signal indicators are off; (**b**) Robot 1 sends signal to Robot 2; (**c**) Robot 1 sends e-mail to control center; (**d**) Robot 2 receives alarm message; (**e**) Robot 2 sends e-mail to control center.  
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Type of Wi-Fi Station** & **Image Upload (s)** & **Message Upload (s)** & **Data Transmit Rate (Mbps)** \\ \hline Mobile phone & 3 & 1 & 90 \\ Lab Router & 10 & 1 & 25 \\ Hallway station & 15 & 2 & 10 \\ \hline \hline \end{tabular}
\end{table}
Table 3: Data transmission times of moving objects.  
Figure 34: Experimental results of dual-robot patrol. (**a**) Starting position; (**b**) detecting doors; (**c**) moving forward to destination door; (**d**) when the robot approaches to the door, it will correct its position to aim at the room plate and door; (**e**) if it is the correct destination, the robot will approach the door and use RFID to verify the tag UID; (**f**) the robot turns right after verification is confirmed; (**g**) shifting path; (**h**) find moving object; (**i**) mean shift tracking and send message to the control center; (**j**) come to the end and rotate; (**k**) shifting path; (**l**) find the starting point of the elevator; (**m**) go straight to the elevator; (**n**) arrive back at the starting position.