This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and forces generated by the tunnel walls, along with the need to operate safely within a defined region while in close proximity to these walls. To address this problem, the paper proposes the implementation of a Model Predictive Control (MPC) framework with constraints based on Control Barrier Function (CBF). The paper approaches the issue in two distinct ways; first, by maintaining a safe distance from the tunnel walls to avoid the effects of both the walls and ceiling, and second, by minimizing the distance from the walls to effectively manage the nonlinear forces associated with close proximity tasks. Finally, the paper demonstrates the effectiveness of its approach through testing on simulation for various close proximity trajectories with the realistic model of aerodynamic disturbances due to the proximity of the ceiling and boundary walls.

翻译：本文提出了一种在隧道内有效控制无人机运动的方法。该问题的核心挑战在于：无人机暴露于隧道壁产生的非线性距离相关力矩与力中，同时需在贴近隧道壁的受限区域内安全运行。为解决此问题，本文提出采用基于控制障碍函数约束的模型预测控制框架。论文从两个不同角度处理该问题：首先，通过保持与隧道壁的安全距离以避免墙壁和天花板的影响；其次，通过最小化与壁面的距离来有效管理近距离作业相关的非线性力。最后，通过模拟测试，在考虑天花板与边界壁面邻近造成的空气动力学扰动的真实模型下，验证了该方法在各种近距离轨迹中的有效性。