For mobile robots and location-based services, precise and real-time positioning is one of the most basic capability, and low-cost positioning solutions are increasingly in demand and have broad market potential. In this paper, we innovatively design a high-accuracy and real-time indoor localization system based on visible light positioning (VLP) and mobile robot. First of all, we design smart LED lamps with VLC and Bluetooth control functions for positioning. The design of LED lamps includes hardware design and Bluetooth control. Furthermore, founded on the loose coupling characteristics of ROS (Robot Operator System), we design a VLP-based robot system with VLP information transmitted by designed LED, dynamic tracking algorithm of high robustness, LED-ID recognition algorithm, and triple-light positioning algorithm. We implemented the VLP-based robot positioning system on ROS in an office equipped with the designed LED lamps, which can realize cm-level positioning accuracy of 3.231 cm and support the moving speed up to 20 km/h approximately. This paper pushes forward the development of VLP application in indoor robots, showing the great potential of VLP for indoor robot positioning.

中文翻译：

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基于可见光通信和移动机器人的高精度实时室内定位系统

对于移动机器人和基于位置的服务，精确和实时定位是最基本的功能之一，低成本定位解决方案的需求日益增长，并且具有广阔的市场潜力。在本文中，我们创新地设计了基于可见光定位（VLP）和移动机器人的高精度实时室内定位系统。首先，我们设计具有VLC和蓝牙控制功能的智能LED灯进行定位。LED灯的设计包括硬件设计和蓝牙控制。此外，基于ROS（机器人操作员系统）的松散耦合特性，我们设计了基于VLP的机器人系统，该系统具有通过设计的LED传输的VLP信息，高鲁棒性的动态跟踪算法，LED-ID识别算法以及三灯定位算法。在配备有设计的LED灯的办公室中，我们在ROS上实现了基于VLP的机器人定位系统，该系统可实现3.231厘米的厘米级定位精度，并支持大约20 km / h的移动速度。本文推动了VLP在室内机器人中的应用发展，展示了VLP在室内机器人定位中的巨大潜力。