For the first time, the problem of optimising energy for communication and motion is investigated. A single mobile robot with continuous high bandwidth wireless communication, e.g. caused by a multimedia application like video surveillance will be regarded. This robot is connected to a radio base station and moves with constant speed from a given starting point on the plane to a target point. The task is to find the best path such that the energy consumption for mobility and the communication is optimised. This is motivated by the fact that the energy consumption of radio devices increases polynomially (at least to the power of two) with the transmission distance. We introduce efficient approximation algorithms finding the optimal path given the starting point, the target point and the position of the radio stations. The influence of the communication cost by a starting scenario with one radio station will be exemplified. The performance of the proposed algorithm will be studied in simulation, compared with the scenario without applying this approach, and the results will be presented.
Minimal energy path planning for wireless robots
Planung des energiearmen Bewegungsweges für drahtlos gesteuerte Roboter
2007
8 Seiten, 8 Bilder, 2 Tabellen, 22 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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