R-AP's position-domain model for an RO-receiver and AP placement strategy for an uninterrupted link between the robotic arm and AP in the VLC network

In the visible light communication (VLC) network, the optical link between the robotic arm and the access point (AP) is easily interrupted due to the random orientation of the receiver on the robotic arm. First, based on the VLC channel model, a position-domain model of reliable AP (R-AP) for a random-orientation receiver (RO-receiver) is proposed. The channel gain of the VLC link between the receiver and the R-AP is non-zero. The tilt-angle range of the RO-receiver is [0, ]. Given the field of view (FOV) angle and the orientation of the receiver, the R-AP's position domain of the receiver can be obtained by this model. Then, based on the R-AP's position-domain model for the RO-receiver, a novel AP placement strategy is proposed. Under this AP placement strategy, the number of R-APs for the RO-receiver is not less than 1, thereby effectively avoiding link interruption caused by the random orientation of receivers. Finally, it is proved by the Monte Carlo method that, under the AP placement strategy proposed in this paper, the VLC link of the receiver on the robotic arm can remain uninterrupted during the movement of the robotic arm.