High-Accuracy Robot Indoor Localization Scheme Based on Robot Operating System Using Visible Light Positioning

摘要

Visible light positioning (VLP) is widely believed to be a cost-effective answer to the growing demand for service-based indoor positioning. Meanwhile, high accuracy localization is very important for mobile robots in various scenes including industrial, domestic and public transportation workspace. In this paper, an indoor robot VLP localization system based on Robot Operating System (ROS) is presented for the first time, aiming at promoting the application of VLP in mature robotic system. On the basis of our previous researches, we innovatively designed a VLP localization package which contains the basic operation control of the robots, the features extraction and recognition of the LED-ID, cm-level positioning, and robust dynamic tracking algorithms. This package exploited the proposed lightweight algorithm, distributed framework design, the loose coupling characteristics of the ROS, and the message communication methods among different nodes. What's more, an efficient LED-ID detection scheme is proposed to ensure the lightweight and accuracy of the positioning. A prototype system has been implemented on a Turtlebot3 Robot <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">11</sup> Experiment Demonstration is available at: https://kwanwaipang.github.io/Image/ROS.mp4.. Experimental results show that the proposed system can provide robot indoor positioning accuracy within 1 cm and an average computational time of only 0.08 s.