Closed loop controlled optical tracking module for free-space optical
communications
S. Malak1 , J.B. Lamour2 , E. Dupont1 , H. Al Hajjar1 , M.U. Khan1 , G. Nourdin3 , C. Prelle1 ,
F. Lamarque1 and B. Fracasso3
Abstract— In this paper, a closed loop controlled optical tra-
cking module for free-space optical communication is presented.
The motion of the optical tracking module is achieved using a
pan-tilt mechanical platform driven by two servomotors. The
optical tracking module consists of optical elements including
beamsplitters and quadrant photodiodes to extract the angular
parameters of the incident wave. Optical as well as dynamic
modeling is performed to confirm the tracking functionality of
the system. Furthermore, to validate the concept, experimenta-
tion has been carried out by placing a laser emission module
in-front of a fixed optical tracking module. The laser was moved
in free-space with the help of a mechanical structure and the
successful tracking of the optical tracking module has been
observed.
I. I NTRODUCTION
In many video assisted or augmented reality applications,
real-time communication between independent mobile robots
or drones generates a huge amount of data through high-
resolution sensors such as high-definition cameras. This kind
of scenario, whereby a mobile terminal needs to transmit
very high speed data (up to several Gigabit/second, Gbps) to
another robot or to a base station, is particularly useful for
real-time recognition of buildings or landscape in the military
or humanitarian context. The increasing bandwidth demand
for wireless communications with embedded terminals has
led researchers to study Optical Wireless Communication
(OWC). When compared to radio-frequency communication
links, OWC presents such advantages as data security, li-
mited power consumption and immunity to electromagnetic
interference [1], [2]. As a major option when high bitrates
are required, narrow Line-Of-Sight (LOS) laser beams can
be used in either the visible or the infra-red spectrum [3].
This technique (referred to as Free-Space Optics, FSO) is
commonly deployed in outdoor scenarios such as building-to-
building, ground-to-plane or ground-to-satellite applications
[4]. When indoor/in-building communications are conside-
red, two major constraints arise. Firstly, the necessity for size
reduction imposes highly compact FSO mobile terminals,
and secondly, the optical power emission levels in free-space
should be low to respect the international standards for eye
1 Authors are with Roberval laboratory CNRS, FRE 2012, Sor-
bonne universités, Université de Technologie de Compiègne, CS
60319-60203, Compiègne cedex, France. (email: saly.malak@utc.fr, er-
wan.dupont@utc.fr, hani.al-hajjar@utc.fr, muneeb-ullah.khan@utc.fr, chris-
tine.prelle@utc.fr, frederic.lamarque@utc.fr)
2 b<>com Institute of reseache and technology, Rennes, 35210, France
(email: jean-baptiste.lamour@b-com.com)
3 Institut Mines-Télécom Atlantique, Brest, 29238, France (email:
bruno.fracasso@imt-atlantique.fr)
safety. This corresponds to the mW range for class 1 lasers
used in the 1300-1550 nm telecom infrared window.
For a mobile system communication with narrow (and
hence high bitrates) beams, a tracking module is mandatory
to maintain LOS between the transmitter and the receiver.
Several methods were developed over the years to localize
and track a mobile target in a real time application. Classical
radio frequency based systems are commonly used to localize
and track a mobile robot. In [5], a relative robot tracking
method is proposed, by applying triangulation and radio
signal strength (RSS) technique. The robots communicate
by transmitting and receiving radio signal messages between
them. Depending on the RSS value, the distance between two
robots can be estimated using trigonometric computations, in
a range of 5 to 10 cm, which may be too coarse to mutually
point to narrow-beam terminals. Visible light communication
(VLC) system can be used to locate and track a mobile
robot in indoor positioning applications. A photo-detector
integrated on the robot receives the signal transmitted by light
emitting diodes (LEDs) deployed in known positions of the
environment. Kazikli et al. [6] measure the time difference
of arrival (TDOA) and received signal strength in order to
estimate the receivers position in a range of 5-10 m. An other
approach to localize and track a mobile robot is proposed in
[7], [8], using an optical remote system, whereby a laser
source scans the surface using a steering mirror, in order to
find and illuminate the robot. This light beam is then reflected
by a corner cube reflector placed onto the robot, to be then
received by a photodetector. A closed-loop control system
enables the robot position to be tracked, depending on the
detector feedback parameters.
So the context of this paper is at the border between digital
communications and intelligent mechatronics. In this frame-
work, we address the problem of dynamic and stable physical
FSO link alignment between different mobile autonomous
robots, having random (hence unpredictable) trajectories and
whose individual positions cannot be transmitted to each
other to manage the overall swarm tracking. An intuitive
presentation is therefore difficult to make and an attempt
will be made to introduce the different technical terms in a
gradual and synthetic way.
Automatic alignment of the terminals is achieved by reflex
by comparing the angle of arrival at a geometric reference
position, and attempting to cancel the gap between the two.
We are extending here an initial work based on the use
of quadrant photo-detectors (QPD) to maintain line-of-sight
in OWC links [9]. In a robot fleet, individual terminals
will thus dynamically align their LOS laser communication
beam with the targeted terminal at all times, in a totally
autonomous manner. For simplicity, we have limited here the
configuration to the generic case of two robots. Maintaining
LOS links between two mobile robots requires specific beam
tracking procedures. We propose here a compact OWC
module that maintains the mutual pointing angles between Fig. 1. Relative movement between two OTMs in free space.
bidirectional communicating transceivers that can perform
bidirectional communications.
is used to create a feedback loop procedure based on the
II. O PTICAL T RACKING M ODULE ARCHITECTURE relative detected irradiance levels. The beam emitted by
In addition to its vehicular and control structure, our idea is the OWC transmits data streams on the same path to the
to integrate to a robot/drone a laser communication terminal, first OTM which becomes the reception OTM to make a
comprising three essential modules : (i) a laser emitter for bidirectional link. This type of device is called a mono-static
transmitting the data of the optical communication to the communication terminal.
outside, (ii) an optical receiver for detecting and decoding
data from the robot(s) with which it communicates and
(iii) an Optical Tracking Module (OTM), which permanently
maintains the optical link between the two robots. Indeed, the
dynamic actuator response of the OTM needs to be fast en-
ough to avoid interruption during transmission for the robot
on mission. Hence, the OTM operation greatly relies upon
a suitable beam orientation technology that compensates the Fig. 2. Architecture and principle of the OTM, where the lens is the
relative movements and positions of the emission heads of collecting field lens.
the two robots. This can be performed in the two following
manners. When moderate angular deflections are considered The main reason why we need to use two QPDs is
(i.e., ≤ 10◦ ), a Beam Steering Technique (BST) is a suitable that two parameters have to be tuned to obtain a perfect
solution. The OTM is then fixed on the robot’s structure and alignment of the OTM with the incident beam, and these
an embedded optical deflector (e.g. a galvanometer mirror two parameters cannot be adjusted simultaneously with the
pair, a 3D MEMS mirror or a variable pitch 2D diffraction information provided by a single QPD. More precisely :
grating) [10] is used permanently to correct the position of
the incident beam. However, for large angular deflections 1) The first parameter corresponds to the position (deno-
(i.e., > 10◦ ), BSTs are inoperative due to their small field of ted by T ) of the centroid of the incoming beam relative
view. Alternatively, a Beam Orientation Technique (BOT) to the center of the first lens of the OTM. This first
must be used, where the entire OTM is mobile and can parameter value must be set near to zero, which means
be oriented in the line-of-sight of the robot with which it that the incoming center ray is entering at the center
communicates, and vice versa. of the input lens of the OTM, thus maximizing the
In this work, a BOT approach is adopted with the help of optical link power budget.
a Pan/Tilt module (PT) operated with two servomotors, each 2) The second parameter is related to the angle (denoted
having 0.1◦ angular accuracy over the servomotor angular by θ ) between the incident beam and the optical axis of
range of 0-180 degrees. The principle of this optical tracking the first lens. This second parameter must also be near
module (OTM) is based on the use of the laser beam as both to zero, which means that the incoming ray is parallel
a communication and an angular alignment signal. For this to the optical axis of the OTM. This also contributes
purpose, a part of the incoming signal wave is taken for the to maximize the optical link power budget, with the
angular alignment between two terminals, and then processed help of a dynamic angular correction performed at the
by a pair of Quadrant PhotoDiodes (QPD). The model of the emitter/receiver module.
movement we want to compensate for corresponds to the two
OTMs moving relative to each other with the help of their
respective PT modules in all directions in space (x, y, z) as
shown in Fig. 1.
The working principle of the OTM is shown in Fig. 2. It
consists in taking a small portion (say, 10%) of the beam
emitted by a first OTM to direct it to the two QPDs of the
reception OTM by using beamsplitters (BS). The majority
of the light passes through the BS and is collected by an
emission/reception system devoted to the optical commu- Fig. 3. Schematic description of the ray propagation from the input lens
nication function. The information collected by the QPDs to the two QPDs.
 The T and θ parameters are illustrated in Fig. 3. If a single
QPD is placed in the vincinity of the back focal plane of lens
L1 , the device will provide individual voltages proportional
to θ (in both directions). However, a shift on the T parameter
will not be detected, as shown in Fig. 4, in which a translation
of the incident laser beam has no effect on the position of
Fig. 5. Optical simulation of the OTM with Zemax.
the spot onto the QPD, and thus is not detected. In the latter
case, only a decrease in the intensity of the optical power
will be detected (Fig. 4b), until extinction (Fig. 4c). to the radius of the QPD. The estimation of the θ angle and
of the T translation can be estimated using the formulas :
 
1 x2 + x1
θx = arctan . (1)
f10 2
 
1 y2 + y1
Fig. 4. Incident laser beam misalignment effect on the QPD with (a) θy = arctan . (2)
centered beam, (b) vertically shifted and (c) vertically shifted and outside. f10 2
x2 + x1 x2 − x1
The proposed solution consists in using two QPDs (deno- Tx = + f10 . (3)
2 ∆Z
ted by QPD1 and QPD2 , see Fig. 5 and Fig. 3) on each side
of the focal point of the first lens, in such a way that both y2 + y1 y2 − y1
Ty = + f10 . (4)
translation and angular informations of the pan-tilt module 2 ∆Z
can be extracted from the incident light beam. Where θx , θy , Tx and Ty are the incident beam angle and
The principle of the estimation of the θ and T values translations in xy-plane, respectively, and x1 , y1 , x2 and y2
form the voltage measured by the two QPDs is described as denote the positions of the light spots focused onto the QPDs.
follows :
- Detection of T and θ : the positioning of each QPDs A. Simplified calculation of θ and T from the QPD voltages
in the OTM means that a single QPD is not dedicated to It is not easy to experimentally determine the θ and T
detect only θ or only T . In fact, both QPDs detect coupled values using equations 1 to 4, as we need to know the exacts
information of θ and T . It is however possible to decouple positions (x1 , y1 , x2 and y2 ) onto the QPDs. Indeed, these
the θ and T values by combining the voltage measured from parameters are not directly accessible on the QPD, as we
both QPDs (see equations 1 to 4). only measure four voltage values proportional to the beam
- Zero detection : to obtain an accurate control and position.
correction of the Pan-Tilt system, we need that θ = 0 and However, as stated above, we do not need the exact values
T = 0. Consequently, it is not necessary to know the exact of θ and T , if we obtain an estimation of θ and T up to a
value of θ or T , but only an estimation of these two values given factor. The aim of the control is to obtain θ = 0 and
up to a given factor. T = 0, which is also true if both parameters are multiplied
with a scalar fixed value.
III. M ODELISATION OF THE OPTICAL CONFIGURATION Another simplification can be made if we consider that
AND GEOMETRIC EQUATIONS the θ angle is small. In the proposed OTM configuration,
the incoming θ angle will be less than ± 5 degrees. The
As shown in Fig. 5, which represents the ray distribution dynamic of the control and tracking of the pan-tilt system
simulation (Zemax model), the incident light beam first will be theoretically sufficient to be lower than this θ value
enters lens. Due the optical characteristics of the first beam (see simulation below).
splitter (BS) used in the optical architecture, a portion of Consequently, if we consider that the angles (i.e., θx and
the light rays (i.e., 10%) is reflected towards the first QPD θy ) are small, then the equations 1 and 2 can be rewritten as
(i.e., denoted by QPD1 ). The rest of the light (i.e., 90%) is follow :
transmitted towards the second BS. Similarly, a small portion 1 x2 + x1
θx = 0 . (5)
(i.e., 10%) of the beam incident to BS2 is reflected towards f1 2
the second QPD (denoted as QPD2 ). The remaining light
1 y2 + y1
power is transmitted through the rest of the system (not θy = . (6)
shown in Fig. 5) and can be used for data communications. f10 2
A schematic description of the ray propagation through the Also, the first QPD measures two differential voltages V x1
two QPDs is provided in Fig. 3, where the two BSs have and V y1 . V x1 (V y1 ) is the subtraction between the voltage
been omitted for greater clarity. The distance between the generated by the left (bottom) and the right (top) quadrant.
lens and QPD1 is equal to f10 − ∆Z2 , and the distance between Moreover V x1 and V y1 are proportional to the distance x1
the lens and QPD2 is f10 + ∆Z2 where ∆Z is defined to ensure and y1 . Similarly, the second QPD measures two differential
the diameter of the beam incident on the QPDs to be equal voltages V x2 and V y2 that can be considered proportional to
the distances x2 and y2 . Therefore, from equation 5 and 6,
we can deduce :
θx ∝ (V x2 +V x1 )
(7)
θy ∝ (V y2 +V y1 )
With the ∝ symbol stands for proportional to. Thus, θ
can be estimated (up to a given factor) directly from the
voltage values measured through both QPDs by adding them
together.
It is also possible to simplify the estimations of Tx and Ty ,
if we consider that the controller has corrected the orientation
of the pan-tilt turret and that the θ value is almost zero.
Using this assumption, we consider that the turret controller
will first seek to cancel the value of θ , and then the values
of Tx and Ty . Consequently, if we consider that θ ' 0, we
can simplify the calculation of Tx and Ty from equation 3
and 4 :
x2 − x1
Tx = f10 . (8)
∆Z
y2 − y1
Ty = f10 . (9)
∆Z
With the same reasoning than for θ , we can simplify
equations 8 and 9 :
Tx ∝ (V x2 −V x1 )
(10)
Ty ∝ (V y2 −V y1 )
In this case, T can be estimated directly from the voltage
values recovered by the QPDs by subtracting their measured
values (up to a given factor and considering that θ is zero).
IV. E LECTROMECHANICAL C ONTROL M ODEL
A. General description of the control model
The general description of the control model is provided
in Fig. 6. The model has six main building blocks. The
comparator block delivers a difference between desired input
and model output. The error in position estimation of the
PT is passed to the controller block. The controller block
generates controlled voltage signals corresponding to the
desired pan and tilt angles. The angles generated by the
servomotors are passed to the mechanical block. The rotation
angles are used by the mechanical model to locate the center
and direction vector of the OTM in three dimensional space.
The optical model consists of an Optical Ray Projection
(ORP) model and optical tracking function. With help of
this function, the projection point on the entry point of the
OTM is located and passed to the QPD for detection. The
coordinate (x, y, z) of the OTM’s center is measured by the
QPD model. Two QPDs blocks for each PT have been used
to detect angular and translational movement. The coordinate
(x, y, z) delivered by the OTM to the QPD model is converted
into a voltage and passed to the PT misalignment estimation
model. This model’s output is used to compare the input
value as shown in Fig. 6.
Fig. 6. Control block diagram.
B. Modelisation of the control model
The control model has been implemented under the M AT-
LAB software in order to choose the controller and tune the
control parameters. The four chosen controllers have a pro-
portional and integration (PI) structure with a second order
integration that allows us to minimize both the static error
and the following error. For each controller, the proportional
parameter is fixed to 15000 and the integration parameter
is fixed to 2s in order to minimize the response time.
Several scenario have been simulated in order to evaluate the
robustness of the controller. For each scenario, two OTMs
(i.e. OTM f and OTMm ) was modeled in order to evaluate
de misalignment during the movement. The movement of
OTMm is imposed and simulates the movement of a mobile
robot equipped with it. OTM f is based on a fixed place of the
room (see Fig. 7). The motors rotations, that compensate the
imposed movement are observed as far as the actual position
of the ray coming from OTM f is not centered.
Fig. 7. Reference space for the three motion scenario.
1) First scenario: a translation on the z axis with a sine
movement is imposed to OTMm with a 5 rad/s frequency and
a ±5 degrees magnitude. Fig. 8 shows the imposed rotation
in blue and beta angle rotation in yellow realized by OTMm
to maintain the orientation. It can be observed that the motor
is controlled in order to compensate the movement. The
observed errors are the translation error of the ray coming
from OTM f (eT x and eTy in Fig. 8) and the angle of this
ray with respect to the optical axis (eθx and eθy in Fig. 8).
The maximum translation error is ± 4 mm and the maximum
angle error is 0.023 degrees.
2) Second scenario: a circular movement around z is
imposed to OTMm in the XY plane. The diameter of the
circular displacement is 4 m and the rotation speed is 0.2
rad/s. Thus, a full rotation is performed in 31.4 seconds for
a total distance of 12.57 meters, which represents a speed of
1.44 km/h. This can be for example a large and rather slow
movement of a mobile robot into a room. OTMm is initially
at a distance of 10 meters from OTM f and the orientation
of the fixed-base of the OTM f is constant.
With the simulation, it is possible to evaluate the alignment
 Fig. 8. Result of the first movement scenario.
error between OTM f and OTMm . The first error that can be
evaluated is the tilt error of the ray coming from OTM f (θ
value of the Fig. 3). This first angular error is negligible
for this simulation (equal to zero). The second error that
can be evaluated is the translation error of the ray coming
from OTM f (T value of the Fig. 3). This translation error
is presented in Fig. 9. The maximum translation error is ±
1.5 mm with respect to the center of the lens. The error is
oscillating around zero during the rotation of OTMm .
The frequency and amplitude of the oscillations of this
error can be adjusted by tuning the parameters of the
controller.
3) Third scenario: we consider a coupled displacement
of OTMm , i.e. a translation on z axis with a sine movement
and a rotation around the z axis (like in the first and second
scenario). The circular movement is 2 m in diameter with
a 0.2 rad/s frequency and the rotation around the z axis
has a 5 degrees magnitude with a 2 rad/s frequency. Fig.
10 represents the distance errors of the ray coming from
OTM f with respect to the center of the lens. In this coupled
movement situation, the maximum eTx error is less than 2
mm.
V. E XPERIMENTAL SETUP AND IMPLEMENTATION OF THE
CONTROL MODEL
The electrical and mechanical layouts are provided in Fig.
11, whereby two QPDs are used to position the pan-tilt
system. The voltage output signals VSUM , Vx and Vy of the
QPD1 and QPD2 are acquired using USB NI 6009 DAQ
module. Were VSUM is equal to the summing of the four
voltages generated by each quadrant. The main reason behind
this approach is the acquisition of QPD signals that ranges
Fig. 9. Result of the second movement scenario.
Fig. 10. Result of the third movement scenario.
from -5V to +5V. This range has introduced some limitation
as the PIC explorer/PIC32 micro-controller module only
accepts 0-3.3V analog voltages. Therefore, the conversion
from analog +/-5V to analog 0-3.3V has been performed
under LabVIEW. Moreover, an analog control signal via USB
6009 DAQ is delivered at the analog port of the PIC32.
Accordingly, the PIC32 generates appropriate PWM signals
(i.e., PWM 1 and PWM 2) to control the PT servomotors
angles.
The main program includes three main procedures which
are : a tracking function, a pan-tilt function and a Theta
function. A desired angular input (i.e., θ = 0) is used for
comparison with a real angular state (i.e., θy and θx ) of the
OTM. This represents the alignment of an incident laser onto
the centers of the QPDs. A proportional control is then used
to reduce the error between the desired and actual angular
values.
In order to validate the system, an OTM has been built
and mounted onto a PT system, as shown in Fig. 11. To
simplify the procedure, the mobile OTM has been replaced
with a collimated laser source mounted over a mechanical
structure capable to perform the Pan and Tilt motions about
the pivot axis of the PT system (left hand side of Fig. 11).
The objective of this experimental setup is to manually mimic
the behavior of the mobile OTM (OTMm in Fig. 1) with
the help of a laser source. As a consequence to the angular
movement of the laser source in free space, the fixed OTM
(facing the laser in Fig. 11) will correct its angular position
in order to align itself. The integrated two QPDs deliver the
voltage variation when subjected to an incident laser beam.
However, in our case, the first QPD in the OTM (i.e., QPD1 ,
illustrated in Fig. 5) is sufficient to validate angular motion
tracking.
Initially, the laser beam source and the OTM are optically
aligned relative to each other to calibrate the QPD1 . During
the calibration procedure, QPD1 is centered with respect
to the input laser beam using a XYZ Newport stage (see
enlarged view in Fig. 11) by centering the output voltages
acquired by QPD1 .
Fig. 11. Experimental setup with enhanced view of the OTM.
VI. R ESULTS
The tracking of an OTM using a mobile laser is performed
by moving the source in positive and negative tilt directions.
Fig. 12 represents the output voltages of one of the two QPDs
during the tracking phase. The experiment begins with the
tracking system being launched and the laser being in front
of the OTM (see Fig. 11). Thus, the detector generates a
significant value of VSUM greater than a threshold value(Vth )
and values of Vx and Vy close to ε0 , the values of Vth and
ε0 are chosen experimentally and in this work equal to 2V
and 0.7V respectively . From t = t1 , the laser is moved along
the positive pan motion direction, causing a decrease in the
value of Vx , which is greater than the absolute value of ε0 .
In a closed loop control system, the pan servomotor follows
the laser displacement, in such a way to return the Vx value
less than |ε0 | (at time t = t2 ). Consequently the laser and the
OTM remain in the same LOS alignment. At time t = t3 , the
laser turned in the negative pan motion direction, generating
an increase in the Vx value. As shown in Fig. 12, at time
t = t4 , the tracking system is able to correct this elevation
by returning Vy to the desired range of values. The same
interpretation can be obtained for the tilt motion direction.
Then every movement of the laser, regardless of its direction
can be detected by monitoring the QPD’s output voltages.
In a closed loop control, the system manages to follow the
laser in order to maintain the same LOS between the OTM
and the laser source.
Fig. 12. Output voltages of the quadrant photo-detector.
VII. C ONCLUSION
The present work describes the design, simulation and ex-
perimental results of a closed loop controlled optical tracking
system dedicated to free-space optical communications. With
a specific optoelectronic design of the device thats enables
us to track both the position and the arrival angle of the
optical communication beam, line-of-sight configuration bet-
ween mobile terminals were physically observed through the
monitoring of the output voltages of the tracking detectors.
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