Communication-Aware RRT*: Path Planning for Robotic Communication Operation in Obstacle Environments
Communication-Aware RRT*: Path Planning for Robotic Communication Operation in Obstacle Environments
复制标题
DOI：
10.1109/icc42927.2021.9500912
复制
发表时间：
2021-06
期刊：
影响因子：
--
通讯作者：
W. Hurst;H. Cai;Yasamin Mostofi
中科院分区：
文献类型：
--
作者：
W. Hurst;H. Cai;Yasamin Mostofi
本文对机器人在障碍环境中的通信路径优化问题进行了研究。考虑这样一个机器人，它需要执行给定的通信任务(例如，数据上传、广播或转发)，同时从起始位置导航到指定的最终位置，避开障碍物，并将其总运动和通信成本降至最低。我们的目标是开发一种适用于各种机器人通信场景的通用路径规划算法，在这些场景中，机器人在真实的信道衰落环境中操作，并在存在障碍物的情况下操作。我们展示了如何改进传统的快速探索随机树搜索星形(RRT*)路径规划算法，以便在包含障碍物的现实信道环境中同时考虑通信和运动目标。我们进一步证明，我们所提出的方法在提供理论上的最优性保证的同时，计算效率也很高。我们在现实的无线信道环境中针对不同的传输设置和通信任务对我们提出的方法进行了广泛的评估。实验结果证明了该方法的有效性。
In this paper, we are interested in path optimization for robotic communication operations in obstacle environments. Consider a robot that needs to perform a given communication task (e.g., data uploading, broadcasting, or relaying) while navigating from a start position to a designated final position, avoiding obstacles, and minimizing its total motion and communication costs. Our goal is to develop a general path planning algorithm applicable to various robotic communication scenarios in which a robot operates in realistic channel fading environments and in the presence of obstacles. We show how we can adapt the traditional Rapidly-Exploring Random Tree Search Star (RRT*) path planning algorithm to jointly consider both communication and motion objectives in realistic channel environments that contain obstacles. We further show that our proposed approach can provide theoretical optimality guarantees while being computationally efficient. We extensively evaluate our proposed approach in realistic wireless channel environments for various transmission settings and communication tasks. The results demonstrate the efficacy of our proposed approach.