Design of Autonomous Wireless Sensor Network Using Mobile Robots for Intrusion Detection and Border Surveillance

National defense and security are most critical when it comes to border surveillance. A border surveillance system that can perform surveillance tasks without requiring any human intervention will be sufficient to prevent such occurrences in border areas. A system must also be capable of taking the necessary decisions and actions when anything suspicious is detected by it, along with sending alert messages to human controllers. To accomplish this task, we developed a wireless sensor network system with mobile robots that detect intrusions and monitor borders. In addition to having simple sensors and a camera, these heterogeneous robots mimic natural swarms (bees, ants and fish) and mimic natural swarms. By developing a robot navigation system capable of coordinating, we were able to detect and recognize intruders using the artificial intelligence method Yolov 5. It was implemented on a simple robot, and gazebos were used to simulate this swarm of robots.