This paper investigates the scenario of a robot making a tradeoff between tracking a time-varying reference trajectory and stopping to communicate at points where the radio signal strength is high. Under the assumption that the signal is subject to multipath fading, we formulate this as a hybrid optimal control problem with penalties on tracking error, communication buffer length and control power. The problem is then solved using relaxed dynamic programming, resulting in control laws for the discrete switching sequence and the continuous control. We finally illustrate the results through simulations under non-ideal conditions, confirming that the system maintains a bounded buffer size and zero-mean tracking error. ; © 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.QC 20110114
Communication-aware trajectory tracking
2008-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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