Intelligent Reflecting Surface Enhanced Indoor Robot Path Planning: A Radio Map-Based Approach

In this paper, an indoor robot navigation system is investigated, where intelligent reflecting surface (IRS) employed to enhance the connectivity between access point (AP) and robotic users. Both single-user multiple-user scenarios are considered. scenario, one mobile user (MRU) communicates with AP. AP serves MRU static (SRU) employing either non-orthogonal multiple (NOMA) or orthogonal (OMA) transmission. The considered optimized for minimization of travelling time/distance from a given starting predefined final location, while satisfying constraints on communication quality To end, radio map based approach proposed exploit location-dependent channel propagation knowledge. For power gain constructed, which characterizes spatial distribution maximum expected effective optimal IRS phase shifts. Based obtained map, communication-aware path planing problem solved by exploiting graph theory. rate allocation at shifts subject minimum requirement SRU. joint optimization efficiently invoking bisection search successive convex approximation methods. Then, theory solution planning derived map. Our numerical results verify effectiveness designs.