INDOOR LOCALIZATION SYSTEM OF ROS MOBILE ROBOT BASED ON VISIBLE LIGHT COMMUNICATION

Shihuan Chen, Wanlin Liang, Shangsheng Wen, Mouxiao Huang, Ruihong Cen, and Weipeng Guan

Keywords

Indoor positioning, visible light communication, visible light posi-tioning, TurtleBot3, Robot Operating System (ROS).

Abstract

A robot indoor localization system based on Robot Operating System (ROS) and visible light communication (VLC) is presented in this paper, innovatively realizing the practical application of VLC indoor positioning with a ROS robot. Based on the three- lamp positioning algorithm and the loosely-coupled characteristics of the ROS system, the positioning algorithm is implemented by two loosely-coupled ROS nodes. Consequently, this paper combines ROS and VLC, aiming at promoting the application of VLC positioning in mature robotic systems. Moreover, it primely pushes forward the development of indoor localization application based on VLC technology and lays a foundation for transplanting to other ROS robot platforms. Experimental results show that the proposed system can provide indoor localization accuracy within 1 cm and possess a good real-time performance which takes only 0.4 seconds for one-time positioning. And if a high performance laptop is used, the single positioning time can be reduced to 0.08 s promisingly. This study confirms the practical application and the superior performance of VLC technology in ROS robot, showing the great potential of VLC localization.

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