SDRを用いたマルチロボットシステムにおける通信チャネル推定
Uoc luong kenh truyen trong he thong da robot su dung SDR
ソフトウェア無線機を搭載した2台の移動ロボット間でOFDM通信を行い、最小二乗法によりチャネル推定を行ってビット誤り率で性能を評価した。
著者: Do Hai Son, Nguyen Huu Hung, Pham Duy Hung, Tran Thi Thuy Quynh
分類: cs.RO, eess.SP
原文アブストラクト
This study focuses on developing an experimental system for estimating communication channels in a multi-robot mobile system using software-defined radio (SDR) devices. The system consists of two mobile robots programmed for two scenarios: one where the robot remains stationary and another where it follows a predefined trajectory. Communication within the system is conducted through orthogonal frequency-division multiplexing (OFDM) to mitigate the effects of multipath propagation in indoor environments. The system's performance is evaluated using the bit error rate (BER). Connections related to robot motion and communication are implemented using Raspberry Pi 3 and BladeRF x115, respectively. The least squares (LS) technique is employed to estimate the channel with a bit error rate of approximately 10^(-2).