The need for efficient movement and precise location of robots in intelligent robot control systems within complex buildings is becoming increasingly important. This paper proposes an indoor positioning and communication platform using Fluorescent Light Communication (FLC) employing a newly developed nine-channel receiver, and discusses a new location estimation method using FLC, that involves a simulation model and coordinate calculation formulae. A series of experiments is performed. Distance errors of less than 25cm are achieved. The enhanced FLC system yields benefits such as greater precision and ease of use.