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For mobile robots and location-based services, precise and real-time positioning is one of the most basic capability, and low-cost positioning solutions are increasingly in demand and have broad market potential. In this paper, we innovatively design a high-accuracy and real-time indoor localization system based on visible light positioning (VLP) and mobile robot. First of all, we design smart LED lamps with VLC and Bluetooth control functions for positioning. The design of LED lamps includes hardware design and Bluetooth control. Furthermore, founded on the loose coupling characteristics of ROS (Robot Operator System), we design a VLP-based robot system with VLP information transmitted by designed LED, dynamic tracking algorithm of high robustness, LED-ID recognition algorithm, and triple-light positioning algorithm. We implemented the VLP-based robot positioning system on ROS in an office equipped with the designed LED lamps, which can realize cm-level positioning accuracy of 3.231 cm and support the moving speed up to 20 km/h approximately. This paper pushes forward the development of VLP application in indoor robots, showing the great potential of VLP for indoor robot positioning.

High-Accuracy and Real-Time Indoor Positioning System Based on Visible Light Communication and Mobile Robot