Communication-Aware Energy Efficient Trajectory Planning with Limited Channel Knowledge

TL;DR

This paper proposes a method for planning drone trajectories that minimize energy consumption while maximizing data transmission by optimizing path and speed based on wireless channel conditions.

Contribution

It introduces a novel trajectory optimization approach that balances energy efficiency and communication quality considering realistic wireless and robot models.

Findings

Optimized trajectories reduce energy use by up to 30%.

Enhanced data transmission rates achieved with the proposed method.

Simulation results validate the effectiveness of the approach.

Abstract

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. 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.