Visible light localization scheme for mobile robots based on multi-sensor fusion

Visible Light Positioning (VLP) shows significant potential in the field of indoor positioning due to its advantages of low cost, high resistance to Electromagnetic Interference (EMI), and the fact that signals are not easily leaked. Meanwhile, the positioning accuracy and robustness of the system are of great significance for the application of mobile robots in home and industrial scenarios. In this paper, an innovative multi-sensor fusion localization scheme is proposed to address the problem of poor localization robustness of single sensors (especially pure VLP) in signal-obscuring environments, with the aim of promoting the application of VLP in practical robotic systems. Based on the principle of extended Kalman filter (EKF), the scheme deeply fuses the localization information of inertial measurement unit (IMU), wheel odometer and VLP, which enables the robot to achieve accurate localization even when the LED signal is occluded or incompletely received, and significantly improves the accuracy and robustness of the localization system. Experimental results show that the proposed fusion scheme effectively overcomes the line-of-sight limitation of VLP in complex indoor environments and realizes stable and reliable high-precision localization.