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Visible Light Communication-based Indoor Environment Modeling and Metric-free Path Planning

Authors Qiu, Kejie
Zhang, Fangyi
Liu, Ming
Issue Date 2015
Source 2015 11th IEEE International Conference on Automation Science and Engineering, Gothenburg, Sweden , v. 2015, Oct, Article number 7294062, p. 200-205
Summary For mobile robots and position-based services, localization is the most fundamental capability while path-planning is an important application based on that. A novel localization and path-planning solution based on a low-cost Visible Light Communication (VLC) system for indoor environments is proposed in this paper. A number of modulated LED lights are used as beacons to aid indoor localization additional to illumination. A Gaussian Process (GP) is used to model the intensity distributions of the light sources. Path-planning is hereby feasible by using the GP variance field, rather than using a metric map. Graph-based path-planners are introduced to cope with the practical situations. We demonstrate our path-planning system by real-time experiments performed on a tablet PC in an indoor environment. © 2015 IEEE.
Note 11th IEEE International Conference on Automation Science and Engineering, CASE 2015; Elite Park Avenue Hotel Gothenburg; Sweden; 24 August 2015 through 28 August 2015; Category number CFP15ASE-ART; Code 116992
ISSN 2161-8070
ISBN 9781467381833
Language English
Format Conference paper
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