Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces
Waqas Afzal, Ahmad A. Masoud · 2016
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.