The Design of an RFID-Based Inventory Hybrid Robot for Large Warehouses

This article presents the design, development, and control of a hybrid robot that combines the aerial capabilities of an unmanned aerial vehicle (UAV) with the ground mobility of a wheeled platform for the problem of RFID-based 3D inventory in warehouses. The key idea of this hybrid robot lies in its unique approach to ground movement, which utilizes taxiing-based motion controlled by precise manipulation of wheel brakes that are mounted on its two lateral wheels in addition to two small rotating front wheels allowing the robot to achieve precise and controlled motion on the ground. The integration of a rotary directional antenna and an RFID reader empowers the robot to collect comprehensive 3D RFID data while autonomously navigating the warehouse and overcoming obstacles. The hybrid robot can ascend to elevated positions for upper-shelf inventory and descend to lower levels which enhances its versatility and makes sure all RFID tags are read within the warehouse. In this paper, we describe the hardware of the hybrid robot and the design of the motion and navigation controller. Experimental results demonstrate the precise locomotion and navigation of the hybrid robot in various scenarios, showcasing its ability to efficiently navigate complex environments a nd perform tasks requiring precise positioning and control. Experimental results also show that the hybrid robot consumes at least 29 times less energy navigating on the ground than flying for the same distance, showing its significant advantage over UAVs. T he paper shows that by combining the strengths of aerial and ground mobility, this design platform promises to reduce inventory management costs, minimize human intervention, and eliminate human risks that accompany manual inventory for high shelves.