Interference aware path planning for mobile robots under joint communication and sensing in mmWave networks

IF 4.5 3区计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS Computer Communications Pub Date : 2024-06-25 DOI:10.1016/j.comcom.2024.06.012

Yijing Ren, Vasilis Friderikos

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Abstract

The beyond fifth-generation (B5G) and emerging sixth-generation (6G) wireless networks are considered as key enablers in supporting a diversified set of applications for industrial mobile robots (MRs). In this paper, we consider mobile robots that autonomously roam on an industrial floor and perform a variety of tasks at different locations, whilst utilizing high directivity beamformers in millimeter wave (mmWave) small cells for joint communication and sensing. In such scenarios, the potential close proximity of MRs connected to different base stations, may cause excessive levels of interference having as a net result a decrease in the overall achievable data rate and network service degradation. To mitigate this effect an interference aware path planning algorithm is proposed by explicitly taking into account both achievable communication and sensing performance. More specifically, the proposed heuristic scheme aims to find paths with minimal interfering time whilst improving the overall joint communication and sensing quality of service. A wide set of numerical investigations reveal that the proposed heuristic path planning scheme for the mmWave networked mobile robots can improve the overall achievable communication throughput and the sensing mutual information by up to 35.6% and 23.6% respectively compared with an interference oblivious scheme. Most importantly, those gains are attained without penalizing noticeably the total travel time of the MRs.

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毫米波网络中联合通信和传感条件下移动机器人的干扰感知路径规划

超越第五代（B5G）和新兴的第六代（6G）无线网络被认为是支持工业移动机器人（MR）多样化应用的关键因素。在本文中，我们考虑的移动机器人可在工业地板上自主漫游，并在不同位置执行各种任务，同时利用毫米波 (mmWave) 小蜂窝中的高指向性波束成形器进行联合通信和传感。在这种情况下，连接到不同基站的磁共振可能距离很近，这可能会造成干扰水平过高，最终导致整体可实现数据速率下降和网络服务退化。为了减轻这种影响，我们提出了一种干扰感知路径规划算法，明确考虑了可实现的通信和传感性能。更具体地说，所提出的启发式方案旨在找到干扰时间最小的路径，同时提高整体的联合通信和感知服务质量。一系列广泛的数值研究表明，与忽略干扰的方案相比，为毫米波联网移动机器人提出的启发式路径规划方案可将整体可实现通信吞吐量和感知互信息分别提高 35.6% 和 23.6%。最重要的是，在实现这些增益的同时，移动机器人的总旅行时间不会受到明显影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Computer Communications 工程技术-电信学

CiteScore

14.10

自引率

5.00%

发文量

397

审稿时长

66 days

期刊介绍： Computer and Communications networks are key infrastructures of the information society with high socio-economic value as they contribute to the correct operations of many critical services (from healthcare to finance and transportation). Internet is the core of today''s computer-communication infrastructures. This has transformed the Internet, from a robust network for data transfer between computers, to a global, content-rich, communication and information system where contents are increasingly generated by the users, and distributed according to human social relations. Next-generation network technologies, architectures and protocols are therefore required to overcome the limitations of the legacy Internet and add new capabilities and services. The future Internet should be ubiquitous, secure, resilient, and closer to human communication paradigms. Computer Communications is a peer-reviewed international journal that publishes high-quality scientific articles (both theory and practice) and survey papers covering all aspects of future computer communication networks (on all layers, except the physical layer), with a special attention to the evolution of the Internet architecture, protocols, services, and applications.