具有路径规划和在线信道估计的运动和通信协同optimization
Motion and Communication Co-optimization with Path Planning and Online Channel Estimation
摘要：
本文考虑了移动机器人的运动能量和通信传输能量的最佳平衡问题，该移动机器人的任务是将给定数量的数据位传输到远程站，同时在给定的时间内导航到预定的目的地。该问题是投在最优控制的设置，机器人必须选择其路径，加速度，和传输速率沿路径，以尽量减少其所需的能量传输和运动，同时满足各种功率和通信约束。我们使用逼真的模型，机器人的信道估计，运动动力学，电力和能源成本。本文的主要贡献是展示如何协同优化机器人的路径以及其他通信和运动变量。两个版本的问题得到解决：第一个是离线定义的，假设所有的信道测量之前，机器人开始移动，而在第二个信道估计更新，而机器人在运动中，因此它是在线解决。在这两种情况下，我们利用内部算法，在很短的时间内计算出接近最优解，这使得它可以在在线设置中使用。详细描述了优化策略，并通过模拟现实场景进行了验证。
英文摘要：
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified destination in a given amount of time. The problem is cast in the setting of optimal control, where the robot has to choose its path, acceleration, and transmission rate along the path so as to minimize its energy required for transmission and motion, while satisfying various power and communication constraints. We use realistic models for the robot's channel estimation, motion dynamics, and power and energy costs. The main contribution of the paper is to show how to co-optimize robot's path along with other communication and motion variables. Two versions of the problem are solved: the first is defined offline by assuming that all the channel measurements are taken before the robots starts moving, while in the second the channel estimation is updated while the robot is in motion, and hence it is solved online. In both cases we utilize an in-house algorithm that computes near-optimal solutions in little time, which enables its use in the online setting. The optimization strategy is described in detail and validated by simulation of realistic scenarios.
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