Projection-based localization and navigation method for multiple mobile robots with pixel-level visible light communication

摘要

We propose a novel method for the localization and navigation of multiple mobile robots. Our method uses coded light superimposed onto a visual image and projected onto the robots. Robots localize their position by receiving and decoding the projected light, and can follow a target using the coded velocity vector field. Localization and navigation information can be independently conveyed in each pixel, and we can change this information over time. The entire system only requires a projector to navigate the robot swarm; thus, it can be used on any projection surface. To navigate the robots, they only need to be placed within the projection area. We experimentally assess the localization accuracy of our system for both stationary and moving robots. To further illustrate the utility of our proposed system, we demonstrate the navigation of multiple mobile robots in vector fields that vary both spatially and temporally.