Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular trajectory chosen by the robot to reach the goal point. In this context, we develop a method to generate optimum trajectories which allow the robot to reach the goal point using little mechanical energy while transmitting as much data as possible. This is done by optimizing the trajectory (path and velocity profile) so that the robot consumes less energy while also offering good wireless channel conditions. In this article, we consider a realistic wireless channel model as well as a realistic dynamic model for the mobile robot (considered here to be a drone). Simulations results illustrate the merits of the proposed method.

中文翻译：

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信道知识有限的通信感知节能轨迹规划

无线通信是当今机器人技术的一个重要方面。在许多应用中，机器人必须移动到某个目标点，同时通过无线信道传输信息，这取决于机器人选择的特定轨迹到达目标点。在这种情况下，我们开发了一种生成最佳轨迹的方法，该方法允许机器人使用很少的机械能到达目标点，同时传输尽可能多的数据。这是通过优化轨迹（路径和速度曲线）来实现的，这样机器人消耗的能量更少，同时还提供良好的无线信道条件。在本文中，我们考虑了一个真实的无线信道模型以及一个真实的移动机器人（这里被认为是无人机）的动态模型。