Abstract
In this paper we propose a Communication-Aware Navigation (CAN) controller to safely guide an agent to a target position in a cluttered environment while maintaining a reliable Wireless Communication Link (WCL). The CAN controller is based on the Harmonic Potential Field (HPF) approach to motion planning. The navigator can generate a communication-aware navigation control signal that is able to safely steer an agent with non-trivial dynamics to a target point along a direct trajectory that avoids obstacles and Dead Communication Zones (DCZ). The approach is developed and basic proofs are provided. The capabilities of the method are demonstrated using simulation results.
Original language | English |
---|---|
Title of host publication | 2016 IEEE 55th Conference on Decision and Control, CDC 2016 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 5146-5151 |
Number of pages | 6 |
ISBN (Electronic) | 9781509018376 |
DOIs | |
State | Published - 27 Dec 2016 |
Publication series
Name | 2016 IEEE 55th Conference on Decision and Control, CDC 2016 |
---|
Bibliographical note
Publisher Copyright:© 2016 IEEE.
ASJC Scopus subject areas
- Artificial Intelligence
- Decision Sciences (miscellaneous)
- Control and Optimization