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Keywords = Simulink–Unreal co-simulation

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27 pages, 10311 KB  
Article
UAV-Based QR Code Scanning and Inventory Synchronization System with Safe Trajectory Planning
by Eknath Pore, Bhumeshwar K. Patle and Sandeep Thorat
Symmetry 2026, 18(4), 548; https://doi.org/10.3390/sym18040548 - 24 Mar 2026
Viewed by 876
Abstract
Modern-day urban warehouses face exploding large inventory and tight spaces requiring fast, accurate, and safe stocktaking in a narrow aisle in a GPS-denied environment. This paper proposes a complete UAV-enabled framework performing real-time QR code scanning with inventory synchronization through a safety-aware trajectory [...] Read more.
Modern-day urban warehouses face exploding large inventory and tight spaces requiring fast, accurate, and safe stocktaking in a narrow aisle in a GPS-denied environment. This paper proposes a complete UAV-enabled framework performing real-time QR code scanning with inventory synchronization through a safety-aware trajectory generation for obtaining collision-free motion. A novel hybrid workflow integrating MATLAB/Simulink R2024b and Unreal Engine is used for dynamics and photorealistic rendering, alongside a real-time warehouse setup using drone cameras and 3D LiDAR coupled with a ground control station and live dashboard. The system in this paper was evaluated by testing with single and multi-UAV models across high-fidelity simulations and experiments. Results demonstrate simulated QR accuracy of approximately 95 to 96%, with experimental validation achieving between 86 and 90.5% due to real-world environmental factors. In experimental and simulation analysis, mean end-to-end latency remained under half a second, trajectory error range between 8 and 10 cm, and safety margins were consistently maintained throughout the test. It was further observed that multi-UAV coordination halved mission time compared to single-drone tests while keeping duplicate reads negligible, indicating a scalable and safe pipeline for industry application. Full article
(This article belongs to the Special Issue Symmetry/Asymmetry in Fuzzy Control)
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