A Validation Framework for Visible Light Positioning in Mobile Robotics

Abstract

Visible Light Positioning (VLP) is emerging as a solution for indoor localization. Interest on VLP has risen, amongst other reasons, as a result of the dissemination of LED illumination. This paper proposes a VLP system based on photo-diode receivers arranged in a regular pattern over a hemispherical dome to detect the position of a light source. Additionally, it proposes a 3D test environment, based on Gazebo, allowing the simulation and validation of our system and its application to mobile robot systems. The results show that the proposed system is capable of estimating the location of a mobile robot with an error of a few centimetres in a 3D space of 20×20×5m.