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

International Journal of Robotics and Automation Pub Date : 2020-01-07 DOI:10.2316/j.2022.206-0321

Shih-Hao Chen, Wanlin Liang, S. Wen, Mouxiao Huang, Rui Cen, W. Guan

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引用次数: 3

Abstract

In this paper, an indoor robot localization system based on Robot Operating System (ROS) and visible light communication (VLC) is presented. On the basis of our previous work, we innovatively designed a VLC localization and navigation package based on Robot Operating System (ROS), which contains the LED-ID detection and recognition method, the video target tracking algorithm and the double-lamp positioning algorithm. This package exploited the principle of double-lamp positioning and the loose coupling characteristics of the ROS system, which is implemented by 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 pushed forward the development of 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 within 1 cm and possesses 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 seconds. Therefore, this study confirms the practical application and the superior performance of VLC technology in ROS robot, showing the great potential of VLC localization. T he video demo of the proposed robot positioning system based on VLC can be seen in *

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基于可见光通信的ros移动机器人室内定位系统

提出了一种基于机器人操作系统(ROS)和可见光通信(VLC)的室内机器人定位系统。在前人工作的基础上，创新性地设计了基于机器人操作系统(ROS)的VLC定位导航包，该包包含LED-ID检测与识别方法、视频目标跟踪算法和双灯定位算法。该封装利用了双灯定位原理和ROS系统的松耦合特性，通过松散耦合的ROS节点实现。因此，本文将ROS与VLC相结合，旨在促进VLC定位在成熟机器人系统中的应用。推动了基于VLC技术的定位应用开发，为移植到其他ROS机器人平台奠定了基础。实验结果表明，该系统可实现1 cm以内的室内定位，具有良好的实时性，一次定位时间仅为0.4秒。如果使用高性能笔记本电脑，单次定位时间可缩短至0.08秒。因此，本研究证实了VLC技术在ROS机器人中的实际应用和优越性能，显示了VLC定位的巨大潜力。本文提出的基于VLC的机器人定位系统的视频演示见*

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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International Journal of Robotics and Automation

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