论文标题
基于可见光通信的ROS移动机器人的室内定位系统
Indoor Localization System of ROS mobile robot based on Visible Light Communication
论文作者
论文摘要
在本文中，提出了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。根据我们以前的工作，我们创新设计了基于机器人操作系统（ROS）的VLC本地化和导航程序包，其中包含LED-ID检测和识别方法，视频目标跟踪算法和双灯灯光定位算法。该软件包利用了双压定位的原理和ROS系统的松散耦合特性，该特性通过松散耦合的ROS节点实现。因此，本文结合了ROS和VLC，旨在促进VLC定位在成熟的机器人系统中的应用。此外，它推动了基于VLC技术的本地化应用程序的开发，并为移植到其他ROS Robot平台的基础奠定了基础。实验结果表明，所提出的系统可以在1 cm内提供室内定位，并且具有良好的实时性能，一次性定位仅需0.4秒。如果使用高性能笔记本电脑，则可以将单个定位时间降低到0.08秒。因此，这项研究证实了VLC技术在ROS机器人中的实际应用和出色的性能，显示了VLC定位的巨大潜力。可以在 *中看到基于VLC的拟议机器人定位系统的视频演示。
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 *
