  Small scale fading makes the wireless channel gain vary significantly over
small distances and in the context of classical communication systems it can be
detrimental to performance. But in the context of mobile robot (MR) wireless
communications, we can take advantage of the fading using a mobility diversity
algorithm (MDA) to deliberately locate the MR at a point where the channel gain
is high. There are two classes of MDAs. In the first class, the MR explores
various points, stops at each one to collect channel measurements and then
locates the best position to establish communications. In the second class the
MR moves, without stopping, along a continuous path while collecting channel
measurements and then stops at the end of the path. It determines the best
point to establish communications. Until now, the shape of the continuous path
for such MDAs has been arbitrarily selected and currently there is no method to
optimize it. In this paper, we propose a method to optimize such a path.
Simulation results show that such optimized paths provide the MDAs with an
increased performance, enabling them to experience higher channel gains while
using less mechanical energy for the MR motion.
