A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB.

翻译：本文提出了一种感知感知非线性模型预测控制（NMPC）策略，旨在实现基于视觉的多旋翼飞行器目标跟踪与避碰。所提出的控制策略既考虑了扭矩层面的实际驱动限制，也融合了视觉感知约束，以确保在完成任务目标的同时维持目标的可见覆盖范围。此外，该方法允许在存在弹道运动动态障碍的工作空间中安全导航。该公式设计具有通用性，可适用于涵盖共面构型（如四旋翼飞行器）及带倾斜螺旋桨的全驱动平台等多样化多旋翼飞行器。通过MATLAB实现的闭环仿真验证了该控制策略的可行性与有效性。