Motion Planning Framework of Mobile Robots for Prisoner Counting in Workshop

For the sake of safety and order, the prison administration needs to carry out strict management and patrols. However, it is difficult to ensure timeliness and comprehensiveness of manual patrols. Robot patrols are already used to help with supervision in some prisons and detention centers. But as far as we know, there is no successfully application of prisoner counting in workshop, which comes down to a multi-area patrol question. In this article, we propose a new universal framework of mobile robots, aiming to solve the multi-area motion planning problem. Simulation results show that the proposed framework performs well in planning efficiency and planning quality. Compared to existing manual counting, robot counting with our proposed planning framework can greatly reduce repetition work of policeman and enrich digital portrayal of prisoners.