论文标题
智能反射表面增强室内机器人路径计划使用无线电图
Intelligent Reflecting Surface Enhanced Indoor Robot Path Planning Using Radio Maps
论文作者
论文摘要
研究了一个室内机器人导航系统，其中采用智能反射表面（IRS）来增强接入点（AP）和移动机器人用户之间的连接性。从给定的起点到预定义的最终位置，在最小化移动机器人用户的旅行时间/距离中，已考虑使用了该系统的系统，同时满足了对通信质量的限制。为了解决这个问题，提出了一种基于无线电图的方法来利用与位置有关的通道传播知识。具体而言，构建了通道功率增益图，该图的特征是最佳IRS相相移的移动机器人用户的最大预期有效通道功率增益的空间分布。基于获得的通道功率增益图，通过利用图理论，通信感知机器人路径策划问题被解决为最短的路径问题。数值结果表明：1）部署IRS可以显着扩展AP的覆盖范围并降低移动机器人用户的行进距离； 2）2或3位IRS相位变速器可以达到与连续IRS相位变速器几乎相同的性能。
An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for minimization of the travelling time/distance of the mobile robotic user from a given starting point to a predefined final location, while satisfying constraints on the communication quality. To tackle this problem, a radio map based approach is proposed to exploit location-dependent channel propagation knowledge. Specifically, a channel power gain map is constructed, which characterizes the spatial distribution of the maximum expected effective channel power gain of the mobile robotic user for the optimal IRS phase shifts. Based on the obtained channel power gain map, the communication-aware robot path planing problem is solved as a shortest path problem by exploiting graph theory. Numerical results show that: 1) Deploying an IRS can significantly extend the coverage of the AP and reduce the travelling distance of the mobile robotic user; 2) 2- or 3-bit IRS phase shifters can achieve nearly the same performance as continuous IRS phase shifters.
