Demonstration of a robot controlling and positioning system based on visible light

摘要

We design and demonstrate an indoor robot controlling and positioning system based on visible lights. We design the downlink control message transmission protocol, the uplink feedback and access protocol, and the robot positioning protocol, and implement the protocols in low-cost hardware. The positioning error can be reduced to the level below 10 cm with significant reduced computational complexity compared with the conventional Lambertian model-based approach. In the demonstration video which can be downloaded from the BAIDU cloud disk, the real-time robot control and access can be achieved. This prototype system can be further developed for both daily and the industrial applications.