TY - GEN
T1 - Visible light communication-based indoor environment modeling and metric-free path planning
AU - Qiu, Kejie
AU - Zhang, Fangyi
AU - Liu, Ming
PY - 2015/10/7
Y1 - 2015/10/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84952778810&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84952778810&origin=recordpage
U2 - 10.1109/CoASE.2015.7294062
DO - 10.1109/CoASE.2015.7294062
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781467381833
VL - 2015-October
SP - 200
EP - 205
BT - IEEE International Conference on Automation Science and Engineering
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Automation Science and Engineering (CASE 2015)
Y2 - 24 August 2015 through 28 August 2015
ER -