가시광 통신을 이용한 다개체 로봇 협업 시스템

Abstract

Most of modern people 's activity area has been moved from outdoor to indoor and building is becoming bigger and more complicated. Accordingly, interest in indoor location-based services is increasing. In order to provide the indoor location-based service, it is necessary to provide an indoor positioning technology. In the case of outdoor, the position can be measured by using global positioning system(GPS) but the GPS signal does not reach in indoor. To solve this problem, location determination technology using radio frequency(RF) signals or image processing and odometry has been developed. In order to overcome the disadvantages of the current indoor positioning technology, location determination technology based on visible light communication(VLC) technology has been studied. This is a method of performing indoor positioning by using a large number of light emitting diodes(LED)s as beacons. LEDs have the advantages of low power, long life, and various colors compared to fluorescent and incandescent lamps. In addition, it enables quick switching of several nanoseconds, facilitating digital control and functioning as a lighting function and communication medium. The LED light has a characteristic of being able to communicate only in the place where the light is illuminated because it has strong straightness and hardly passes through opaque obstacles. With these features, LED lights can be used as beacons. In this thesis, we propose a system that estimates the position of robot using visible light communication and controls the robot. For visible light communication, multiple input multiple output(MIMO) communication can be performed using RGB-LED, and variable pulse position modulation(VPPM) is used for dimming control. The position of the robot is measured by position based on the odometry and the position based on visible light communication. Through the user application, the proposed system is able to control dimming of LED lighting and the robot, and estimate the position of robot.