Intelligent path planning algorithm for cooperative traversal task of multiple unmanned ground vehicles

Zhang, Lixiong; Guo, Yan; Song, Xiaoxiang; Xue, Duan; Ren, Bo

doi:10.1109/iccc54389.2021.9674324

Cited by 4 publications

(1 citation statement)

References 15 publications

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“…Additionally, multiple MRs are used in [9], where routing strategy and path optimization are both studied to achieve multi-hop transmission capabilities. Moreover, a trajectory planning model for multiple unmanned vehicles is designed in [10] to transport sensors to different locations while minimizing the total travel time. Although the aforementioned studies strive to increase the overall network performance, the strong interaction between path planning and achievable wireless throughput between MRs that might concurrently serve locations that create strong interference hasn't been explicitly investigated in the path planning optimization problem.…”

Section: Introductionmentioning

confidence: 99%

Interference Aware Path Planning for Mobile Robots in mmWave Multi Cell Networks

Ren¹,

Friderikos²

2022

Preprint

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The emerging beyond 5G and envisioned 6G wireless networks are considered as key enablers in supporting a diversified set of applications for industrial mobile robots (MRs). The scenario under investigation in this paper relates to mobile robots that autonomously roam in an industrial floor and perform a variety of tasks at different locations whilst utilizing high directivity beamformers in mmWave small cells.In such scenarios, the potential close proximity of mobile robots connected to different base stations, may cause excessive levels of interference having as a net result a decrease in the overall achievable data rate in the network. To resolve this issue, a novel mixed integer linear programming formulation is proposed where the trajectory of the mobile robots is considered jointly with the interference level at different beam sectors. Therefore, creating a low interference path for each mobile robot in the industrial floor. A wide set of numerical investigations reveal that the proposed path planning optimization approach for the mmWave connected mobile robots can improve the overall achievable throughput by up to 31% compared to an interference oblivious scheme, without penalizing the overall travelling time.

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Section: Introductionmentioning

confidence: 99%