论文标题
通信感知能节能轨迹计划有限的渠道知识
Communication-Aware Energy Efficient Trajectory Planning with Limited Channel Knowledge
论文作者
论文摘要
如今，无线通信是机器人技术的重要方面。在许多应用程序中，机器人必须将信息移至某个目标点，同时通过无线通道传输信息，这取决于机器人选择的特定轨迹以达到目标点。在这种情况下，我们开发了一种生成最佳轨迹的方法，该方法允许机器人在传输尽可能多的数据的同时，使用少量机械能达到目标点。这是通过优化轨迹（路径和速度轮廓）来完成的，以便机器人消耗较少的能量，同时还提供良好的无线通道条件。我们考虑了一个现实的无线通道模型以及移动机器人的现实动态模型（在这里被认为是无人机）。仿真结果说明了所提出的方法的优点。
Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular trajectory chosen by the robot to reach the goal point. In this context, we develop a method to generate optimum trajectories which allow the robot to reach the goal point using little mechanical energy while transmitting as much data as possible. This is done by optimizing the trajectory (path and velocity profile) so that the robot consumes less energy while also offering good wireless channel conditions. We consider a realistic wireless channel model as well as a realistic dynamic model for the mobile robot (considered here to be a drone). Simulations results illustrate the merits of the proposed method.
