Communication-Aware Energy Efficient Trajectory Planning With Limited Channel Knowledge

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. In this article, 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.

[1]  A. Isidori.  Nonlinear Control Systems , 1985 .

[2]  Rogelio Lozano,et al.  Quad Rotorcraft Control: Vision-Based Hovering and Navigation , 2012 .

[3]  Vijay Kumar,et al.  Robust Control of Mobility and Communications in Autonomous Robot Teams , 2013, IEEE Access.

[4]  Yasamin Mostofi,et al.  Co-Optimization of Communication and Motion Planning of a Robotic Operation under Resource Constraints and in Fading Environments , 2013, IEEE Transactions on Wireless Communications.

[5]  Mounir Ghogho,et al.  Mobility Diversity-Assisted Wireless Communication for Mobile Robots , 2016, IEEE Transactions on Robotics.

[6]  Ahmad A. Masoud,et al.  Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[7]  M. V. Cook.  Flight Dynamics Principles , 1997 .

[8]  Roland Siegwart,et al.  Introduction to Autonomous Mobile Robots , 2004 .

[9]  Yasamin Mostofi,et al.  To Go or Not to Go: On Energy-Aware and Communication-Aware Robotic Operation , 2014, IEEE Transactions on Control of Network Systems.

[10]  Abbas Jamalipour,et al.  Wireless communications , 2005, GLOBECOM '05. IEEE Global Telecommunications Conference, 2005..

[11]  A. Isidori.  Nonlinear Control Systems: An Introduction , 1986 .

[12]  Fabio Morbidi,et al.  Minimum-energy path generation for a quadrotor UAV , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[13]  Alejandro Ribeiro,et al.  Network Integrity in Mobile Robotic Networks , 2013, IEEE Transactions on Automatic Control.

[14]  G. Stewart.  Introduction to matrix computations , 1973 .

[15]  Rogelio Lozano,et al.  Quad Rotorcraft Control , 2012 .

[16]  Yasamin Mostofi,et al.  Robotic Router Formation in Realistic Communication Environments , 2012, IEEE Transactions on Robotics.

[17]  D. Luenberger.  Optimization by Vector Space Methods , 1968 .

[18]  Yasamin Mostofi,et al.  Path Planning for Networked Robotic Surveillance , 2012, IEEE Transactions on Signal Processing.

[19]  Vijay Kumar,et al.  Hybrid architecture for communication-aware multi-robot systems , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[20]  Mehrzad Malmirchegini,et al.  Estimation of communication signal strength in robotic networks , 2010, 2010 IEEE International Conference on Robotics and Automation.

[21]  Karl Henrik Johansson,et al.  Communication-aware trajectory tracking , 2008, 2008 IEEE International Conference on Robotics and Automation.

[22]  Karl Henrik Johansson,et al.  Adaptive exploitation of multipath fading for mobile sensors , 2010, 2010 IEEE International Conference on Robotics and Automation.

[23]  Mehrzad Malmirchegini,et al.  On the Spatial Predictability of Communication Channels , 2012, IEEE Transactions on Wireless Communications.

[24]  Alejandro Ribeiro,et al.  System architectures for communication-aware multi-robot navigation , 2016, 2016 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP).

[25]  Mounir Ghogho,et al.  Mobile Robot Path Planners With Memory for Mobility Diversity Algorithms , 2017, IEEE Transactions on Robotics.

[26]  Michel Malabre,et al.  Robust structural feedback linearization based on the nonlinearities rejection , 2020, J. Frankl. Inst..

[27]  Sergio Salazar,et al.  Synthesis of a robust linear structural feedback linearization scheme for an experimental quadrotor , 2019, 2019 18th European Control Conference (ECC).

[28]  Michael V. Cook,et al.  Flight Dynamics Principles: A Linear Systems Approach to Aircraft Stability and Control , 2007 .

[29]  J. Pearson.  Linear multivariable control, a geometric approach , 1977 .

[30]  Yasamin Mostofi,et al.  Communication-Aware Motion Planning in Mobile Networks , 2011, IEEE Transactions on Automatic Control.

[31]  Hong Cai,et al.  Motion and communication co-optimization with path planning and online channel prediction , 2016, 2016 American Control Conference (ACC).

[32]  Christian Schindelhauer,et al.  Minimal Energy Path Planning for Wireless Robots , 2009, Mob. Networks Appl..

[33]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[34]  Donald E. Kirk,et al.  Optimal control theory : an introduction , 1970 .

[35]  Karl Henrik Johansson,et al.  Using robot mobility to exploit multipath fading , 2009, IEEE Wireless Communications.

[36]  Christian Schindelhauer,et al.  Minimal Energy Path Planning for Wireless Robots , 2007, Mob. Networks Appl..

[37]  Yasamin Mostofi,et al.  Communication-aware surveillance in mobile sensor networks , 2011, Proceedings of the 2011 American Control Conference.

[38]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[39]  S. Liberty,et al.  Linear Systems , 2010, Scientific Parallel Computing.

[40]  P. Olver.  Nonlinear Systems , 2013 .

[41]  Yasamin Mostofi,et al.  Channel learning and communication-aware motion planning in mobile networks , 2010, Proceedings of the 2010 American Control Conference.

[42]  Andreas F. Molisch,et al.  Wireless Communications , 2005 .