论文标题
MMWave多单元网络中移动机器人的干扰意识路径计划
Interference Aware Path Planning for Mobile Robots in mmWave Multi Cell Networks
论文作者
论文摘要
超越5G并设想6G无线网络被认为是支持多元化的工业移动机器人应用程序集（MRS）的关键推动力。本文所研究的情况与移动机器人有关，这些机器人自主在工业地板上自动漫游，并在不同位置执行各种任务，同时利用MMWave小单元中的高方向性界定器。在这种情况下，连接到不同基站的移动机器人的潜在紧密距离可能导致过度的干扰水平，因为网络中总体可实现的数据速率降低。为了解决此问题，提出了一种新型混合整数线性编程公式，其中移动机器人的轨迹与不同梁扇区的干扰水平共同考虑。因此，为工业地板中的每个移动机器人创建一个低干扰路径。一系列的数值调查表明，与干扰遗漏方案相比，MMWave连接的移动机器人的拟议路径计划优化方法可以提高总体可实现的吞吐量高达31％，而不会惩罚整体旅行时间。
The emerging beyond 5G and envisioned 6G wireless networks are considered as key enablers in supporting a diversified set of applications for industrial mobile robots (MRs). The scenario under investigation in this paper relates to mobile robots that autonomously roam in an industrial floor and perform a variety of tasks at different locations whilst utilizing high directivity beamformers in mmWave small cells. In such scenarios, the potential close proximity of mobile robots connected to different base stations, may cause excessive levels of interference having as a net result a decrease in the overall achievable data rate in the network. To resolve this issue, a novel mixed integer linear programming formulation is proposed where the trajectory of the mobile robots is considered jointly with the interference level at different beam sectors. Therefore, creating a low interference path for each mobile robot in the industrial floor. A wide set of numerical investigations reveal that the proposed path planning optimization approach for the mmWave connected mobile robots can improve the overall achievable throughput by up to 31% compared to an interference oblivious scheme, without penalizing the overall travelling time.
