Development of Unmanned Aerial Vehicle Navigation and Warehouse Inventory System Based on Reinforcement Learning

Abstract

In this paper, we present the exploration of indoor positioning technologies for UAVs, as well as navigation techniques for path planning and obstacle avoidance. The objective was to perform warehouse inventory tasks, using a drone to search for barcodes or markers to identify objects. For the indoor positioning techniques, we employed visual-inertial odometry (VIO), ultra-wideband (UWB), AprilTag fiducial markers, and simultaneous localization and mapping (SLAM). These algorithms included global positioning, local positioning, and pre-mapping positioning, comparing the merits and drawbacks of various techniques and trajectories. For UAV navigation, we combined the SLAM-based RTAB-map indoor mapping and navigation path planning of the ROS for indoor environments. This system enabled precise drone positioning indoors and utilized global and local path planners to generate flight paths that avoided dynamic, static, unknown, and known obstacles, demonstrating high practicality and feasibility. To achieve warehouse inventory inspection, a reinforcement learning approach was proposed, recognizing markers by adjusting the UAV’s viewpoint. We addressed several of the main problems in inventory management, including efficiently planning of paths, while ensuring a certain detection rate. Two reinforcement learning techniques, AC (actor–critic) and PPO (proximal policy optimization), were implemented based on AprilTag identification. Testing was performed in both simulated and real-world environments, and the effectiveness of the proposed method was validated.

Keywords

• UAV
• indoor positioning
• path planning
• warehouse inventory inspection
• reinforcement learning