Path Planning for a Connectivity Seeking Robot
Path Planning for a Connectivity Seeking Robot
复制标题
寻求连接的机器人的路径规划
DOI：
10.1109/glocomw.2017.8269061
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Yasamin Mostofi
中科院分区：
文献类型：
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作者：
Arjun Muralidharan;Yasamin Mostofi
我们考虑无人驾驶车辆需要连接到远程站（或另一个机器人）的场景。更具体地说，我们考虑的情况下，无人驾驶车辆没有连接在其当前位置，需要产生运动能量，以找到一个连接点。然后，我们有兴趣设计机器人路径，是节能（最小行驶距离），并可以在现实的信道环境中，可以体验多径，阴影和路径损耗的保证连接。在本文中，我们将展示如何这个问题可以最佳和有效地解决，在温和的条件下的路径，使用工具从随机动态规划。我们广泛的模拟，与真实的信道参数，然后确认，我们的方法可以显着减少旅行距离连接，从而最大限度地减少总能耗。
We consider the scenario where an unmanned vehicle needs to get connected to a remote station (or another robot). More specifically, we consider the case where an unmanned vehicle is not connected in its current location and needs to incur motion energy to find a connected spot. We are then interested in designing robot paths that are energy efficient (minimum traveled distance) and can result in guaranteed connectivity in realistic channel environments that can experience multipath, shadowing, and path loss. In this paper, we show how this problem can be optimally and efficiently solved, under mild conditions on the paths, using tools from stochastic dynamic programming. Our extensive simulations, with real channel parameters, then confirm that our approach can significantly reduce the traveled distance to connectivity, thus minimizing the total energy consumption.