用激光通信约束飞行器路径规划，确保稳定连接与避障
Free-Space Optical Communication-Driven NMPC Framework for Multi-Rotor Aerial Vehicles in Structured Inspection Scenarios
- 将光通信质量要求融入非线性预测控制框架
- 实现飞行器与地面车协同跟踪，保持激光对准且避开障碍
- 适用于复杂场景下的无人机巡检，适合做智能感知系统设计
本文提出一种基于自由空间光通信（FSO）的多旋翼飞行器（MRAV）通信感知运动规划非线性模型预测控制（NMPC）框架。场景中，装备机体固定光发射器的飞行器与作为移动中继的无人地面车（UGV）协同工作，各配备固定锥形视场（FoV）接收器。控制器将光链路连通性约束集成到NMPC中，确保光束对准与最低链路质量，同时支持UGV跟踪与障碍物规避。该方法适用于共面与倾斜飞行器构型。MATLAB仿真验证了其可行性与有效性。
原文摘要 · Abstract (English)
This paper introduces a Nonlinear Model Predictive Control (NMPC) framework for communication-aware motion planning of Multi-Rotor Aerial Vehicles (MRAVs) using Free-Space Optical (FSO) links. The scenario involves MRAVs equipped with body-fixed optical transmitters and Unmanned Ground Vehicles (UGVs) acting as mobile relays, each outfitted with fixed conical Field-of-View (FoV) receivers. The controller integrates optical connectivity constraints into the NMPC formulation to ensure beam alignment and minimum link quality, while also enabling UGV tracking and obstacle avoidance. The method supports both coplanar and tilted MRAV configurations. MATLAB simulations demonstrate its feasibility and effectiveness.
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