A Cooperative Positioning Flamework for Robot and Smart Phone Based on Visible Light Communication

Abstract: A cooperative positioning flamework of human and robots based on visible light communication (VLC) is proposed. Based on the experiment system, we demonstrated it is feasible and has high-accuracy and real-time performance. Because the walls block the transmission of signals, the performance of traditional positioning technologies such as Global Positioning System (GPS) positioning decreases significantly when used indoors, which has a large positioning error that even could not be used at all. Visible light positioning (VLP) systems compile the identifier (ID)-position information into a modulated signal by Microcontroller Unit (MCU) and adopt on-off keying (OOK) modulation to modulate the LEDs, transmitting information by changing the on-off state of the LEDs. Then, for the receiving terminal, by the rolling shutter effect of CMOS, the on-off state of the LED is captured in the form of stripes, so that the data rate of optical camera communication (OCC) can be boosted to a level much higher than the video frame rate.