Visible light positioning (VLP) is widely believed to be a cost-effective answer to the growing demand for service-based indoor positioning. Meanwhile, high accuracy localization is very important for mobile robots in various scenes including industrial, domestic and public transportation workspace. In this paper, an indoor robot VLP localization system based on Robot Operating System (ROS) is presented for the first time, aiming at promoting the application of VLP in mature robotic system. On the basis of our previous researches, we innovatively designed a VLP localization package which contains the basic operation control of the robots, the features extraction and recognition of the LED-ID, cm-level positioning, and robust dynamic tracking algorithms. This package exploited the proposed lightweight algorithm, distributed framework design, the loose coupling characteristics of the ROS, and the message communication methods among different nodes. What's more, an efficient LED-ID detection scheme is proposed to ensure the lightweight and accuracy of the positioning. A prototype system has been implemented on a Turtlebot3 Robot 1 . Experimental results show that the proposed system can provide robot indoor positioning accuracy within 1 cm and an average computational time of only 0.08 s.
Visible light positioning (VLP) is a promising technology for indoor navigation. However, most studies of VLP systems nowadays only focus on positioning accuracy, whereas robustness and real-time ability are often overlooked, which are all indispensable in actual VLP situations. Thus, we propose a novel VLP method based on mean shift (MS) algorithm and unscented Kalman filter (UKF) using image sensors as the positioning terminal and a Light Emitting Diode (LED) as the transmitting terminal. The main part of our VLP method is the MS algorithm, realizing high positioning accuracy with good robustness. Besides, UKF equips the mean shift algorithm with the capacity to track high-speed targets and improves the positioning accuracy when the LED is shielded. Moreover, a LED-ID (the identification of the LED) recognition algorithm proposed in our previous work was utilized to locate the LED in the initial frame, which also initialized MS and UKF. Furthermore, experiments showed that the positioning accuracy of our VLP algorithm was 0.42 cm, and the average processing time per frame was 24.93 ms. Also, even when half of the LED was shielded, the accuracy was maintained at 1.41 cm. All these data demonstrate that our proposed algorithm has excellent accuracy, strong robustness, and good real-time ability.
Anion exchange is recognized as an effective method to regulate the composition, electronic conductivity, and electrochemical behavior of the transition metal-based compounds. In this work, anion exchange is adopted as a rational post-treatment route to facilitate the capacitive activity of CoNi 2 S 4 nanoparticle arrays grown on carbon cloth (CC) with high mass-loading. As soaked in saturated Na 2 S solution, the CoNi 2 S 4 /CC electrode showed an increased capacity from 483 C g À 1 to 841 C g À 1 at 10 mA cm À 2 with excellent rate performance and stable cycling performance, which was superior to the CoNi 2 S 4 /CC electrode activated by NaBH 4 reduction. Anion exchange was beneficial for enhancing the crystallinity, retaining the adhesion of nanoarrays, and realizing low resistance nature in a mild route. The asassembled CoNi 2 S 4 /CC//activated CC hybrid supercapacitor delivered a high areal capacitance of 1.28 F cm À 2 at 5 mA cm À 2 , and achieved an energy density of 0.58 mWh cm À 2 at a power density of 4.5 mW cm À 2 with excellent cycle stability with 90.6 % capacity retention after 10000 cycles.
For mobile robots and location-based services, precise and real-time positioning is one of the most basic capability, and low-cost positioning solutions are increasingly in demand and have broad market potential. In this paper, we innovatively design a high-accuracy and real-time indoor localization system based on visible light positioning (VLP) and mobile robot. First of all, we design smart LED lamps with VLC and Bluetooth control functions for positioning. The design of LED lamps includes hardware design and Bluetooth control. Furthermore, founded on the loose coupling characteristics of ROS (Robot Operator System), we design a VLP-based robot system with VLP information transmitted by designed LED, dynamic tracking algorithm of high robustness, LED-ID recognition algorithm, and triple-light positioning algorithm. We implemented the VLP-based robot positioning system on ROS in an office equipped with the designed LED lamps, which can realize cm-level positioning accuracy of 3.231 cm and support the moving speed up to 20 km/h approximately. This paper pushes forward the development of VLP application in indoor robots, showing the great potential of VLP for indoor robot positioning.
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