Indoor Localization System for Mobile Robot Based on Visible Light Communication

摘要

This article aims to explore the methods and techniques of using LED visible light communication for indoor localization of mobile robots. Indoor localization is crucial for autonomous navigation and task execution of robots, and LED visible light communication, as an emerging communication and localization technology, possesses unique advantages and necessity. This article provides a detailed introduction to the principles and technical details of LED visible light communication, emphasizing its prominent significance in indoor localization of mobile robots. Based on the hardware device of LED tube lights with modulation circuits, combined with industrial cameras for image acquisition and processing on the robot, the three-dimensional coordinate information of the LED tube lights in the indoor environment can be obtained through decoding algorithms. Then, by utilizing the single-light positioning formula, the camera's coordinate information can be calculated to achieve real-time indoor localization of the robot. This method overcomes the issue of different positioning results for a stationary mobile robot due to variations in the robot's heading angle. Through experimental verification, the positioning error of this localization system is within the centimeter range, demonstrating high feasibility and accuracy.