SISTEMA DE GEOLOCALIZACIÓN PARA ROBOTS MÓVILES EN INTERIORES EMPLEANDO LIFI

Leonardo Fabián Rentería Bustamante; Alex Fernando  Quille Vega; Klever Hernán Torres Rodríguez; Celia Margarita Mayacela Rojas

doi:10.59540/tech.vi5.136

Authors

Leonardo Fabián Rentería Bustamante Universidad Nacional de Chimborazo
Alex Fernando Quille Vega Universidad Nacional de Chimborazo
Klever Hernán Torres Rodríguez Universidad Nacional de Chimborazo
Celia Margarita Mayacela Rojas Universidad Nacional de Chimborazo

DOI:

https://doi.org/10.59540/tech.vi5.136

Keywords:

LiFi, indoor localization, optical wireless communications, IM, mobile robot, positioning, VLC

Abstract

This work presents the development and evaluation of an indoor localization system based on LiFi technology, using a matrix of coded LED transmitters and an optical receiver integrated into a mobile robot. Three experimental trajectories with different geometric characteristic of smooth curves, sharp turns, and abrupt direction changes were executed to analyze the system’s accuracy and stability under real operating conditions. Results show that the implemented Cell-ID method is capable of reconstructing the robot’s path with absolute errors ranging from 12.5% to 22.2%, depending on trajectory complexity. The generated heat maps reveal higher reading stability in central cells and increased ambiguous detections in illumination transition areas. The findings confirm that LiFi is a viable alternative for indoor positioning, particularly in environments where radio-frequency technologies face limitations due to interference or operational constraints.

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