光通信技术2025，Vol.49Issue(6)：43-46,4.DOI:10.13921/j.cnki.issn1002-5561.2025.06.008
基于可见光通信的多传感器融合定位算法
Multi-sensor fusion localization algorithm based on visible light communication
章小强 1刘泽林 1张宏亮 1潘锋1
作者信息
- 1. 中广核数字科技有限公司,上海 201100
- 折叠
摘要
Abstract
To address the challenges of multi-robot collaborative positioning in nuclear environments,this paper proposes a multi-sensor fusion localization algorithm based on visible light communication(VLC).By modulating light-emitting diode(LED)light frequencies and assigning unique identification codes,combined with industrial camera image processing and odometer data,high-precision LED position detection is achieved.Experiments are conducted on the TurtleBot3 platform un-der simulated nuclear power plant conditions with complex lighting(multi-source interference,high reflectivity,and occlu-sion).Results demonstrate that the algorithm achieves an average positioning error of 3.62 cm,with 90%of measurement points exhibiting errors below 5 cm and a maximum error of only 9.04 cm.The robustness of the system in scenarios such as corners and narrow passages is verified through the RViz visualization platform.关键词
核环境/多机器人系统/可见光通信/协同定位/自动化作业Key words
nuclear environment/multi-robot system/visible light communication/cooperative localization/automated opera-tions分类
信息技术与安全科学引用本文复制引用
章小强,刘泽林,张宏亮,潘锋..基于可见光通信的多传感器融合定位算法[J].光通信技术,2025,49(6):43-46,4.
