Indoor localization of mobile robot with visible light communication

Abstract

This paper focuses on the implementation of visible light communication (VLC) with an autonomous mobile robot to provide indoor localization. Recent research on VLC, mostly in the form of simulations, offers the opportunity to conduct real life experiments and test the theory. Accurate indoor positioning is achieved by employing multi-frequency method with received signal strength (RSS) to calculate the distance of the robot from each LED installed above the robot in a plane parallel to the plane of the robot base. Multi-frequency method consists of each LED transmitting its location ID at a different frequency. It is demonstrated that the receiver is able to separate each location ID from simultaneous data transmission with a bandpass filter.