가시광 통신을 이용한 지능형 모바일 로봇의 실내 위치 인식 시스템 구현

Abstract

Visible light communication(VLC) using LED lamps is suitable for implementing indoor positioning system in the indoor environment where global positioning system(GPS) signal does not reach. In this paper we present an indoor positioning system for mobile robots using VLC beacon and fuzzy rules. This system consists of autonomous mobile robot, VLC modules, and device application software. Fuzzy rules are applied to plan the global and local paths along which the mobile robot navigates indoors. The VLC transmitter modules are attached on the wall or the ceiling as beacons to transmit their own location information. The variable pulse position modulation(VPPM) algorithm is used to transmit data, which is a new modulation scheme for VLC providing dimming control mechanism for flicker-free optical communication. The mobile robot has the receiver module to receive the location information while performing its mission under the environment where VLC transmitters are deployed.