Improvement of the VLC localization method using the Extended Kalman Filter

This paper deals with localization problem of mobile robots in indoor environment based on Visible Light Communications (VLC). We propose an integrated AOA-RSS localization method of Angle of Arrival (AOA) and Received Signal Strength (RSS) methods to find out position of a mobile robot using an array of photodiodes (PDs). Performance of the integrated localization method depends on the number of PDs mounted on the mobile robot. In order to achieve more accurately in positioning the mobile robot´s location, we propose a combination of the proposed AOA-RSS localization method and the Extended Kalman Filter (EKF) algorithm. The efficiency of this combination is proved through computer simulation. The EKF also addresses a significant problem in robot navigation that is to control the mobile robot moving on the specified path in a certain activity.