5G+边缘计算让无人机在地下矿井自主飞行，实时控制更安全高效。
Real-World Deployment of a 5G-Connected Edge-Controlled Aerial Robot in Industrial Subterranean Mines
- 用5G独立组网连接无人机与边缘控制器，实现远程实时操控。
- 在真实工业矿井中完成自主飞行，路径平滑且避障成功。
- 适合智能矿山、工业巡检等对延迟敏感的无人系统场景。
本文首次实现了5G连接的空中机器人在实际工业地下矿井中的自主飞行，通过部署于邻近Kubernetes边缘集群的高阶控制器完成远程控制。机器人在运行中通过5G新空口（NR）独立组网（SA）进行通信，控制器采用模型预测控制（MPC）算法，根据人工设定的航点生成平滑、无碰撞的飞行路径。该5G边缘闭环系统在真实工业环境中完成验证，展现了边缘控制机器人在时间敏感、安全高效未来部署中的潜力。
原文摘要 · Abstract (English)
This article presents the first real-world autonomous flight of a 5G-connected aerial robot controlled by an edge-offloaded controller, and aims to bridge the gap between controlled and factual setups. The robot operates within an active industrial subterranean mine, while the high-level controller is deployed in a nearby Kubernetes-based edge cluster. Communication between the robot and the edge is enabled via a 5G New Radio (NR) Standalone (SA) network. The chosen controller is a Model Predictive Controller (MPC), which generates control actions to allow the robot to navigate seamlessly through the mining environment. A human operator selects waypoints for the aerial robot, and the MPC generates smooth, collision-free paths for autonomous executions. The proposed 5G edge-based closed-loop system is evaluated in a real industrial setting and demonstrates the potential of edge-controlled robotic systems toward time-critical, safe and efficient future deployments.
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