UAV parcel Delivery System with Deep Reinforcement Learning Based Collision Avoidance and Route Optimization
Journal
International Journal of Automation and Smart Technology
Journal Volume
14
Journal Issue
1
Start Page
8
End Page
18
ISSN
2223-9766
Date Issued
2024-09-01
Author(s)
DOI
10.5875/P25FHT10
Abstract
Unmanned Aerial Vehicles (UAVs), or drones, have recently become a favorable solution for fast parcel delivery due to their maneuverability and advances in navigation technologies. With the limitation of battery capacity and payload of drones, it is crucial to consider both efficiency and cost while conducting the tasks. Meanwhile, UAVs should not collide with each other while traveling to customers. In this article, we propose a UAV parcel delivery system involving deep reinforcement learning (DRL) approach for collision avoidance and a genetic algorithm for route optimization. Specifically, a delivery center generates near-optimal routes, loading UAV with parcels according to demands. Each UAV takes charge of delivering packages in compliance with the assigned route while avoiding collision with each other. We utilize DRL to achieve collision avoidance without having prior knowledge about the trajectories of other UAVs. Additionally, we adopt a genetic algorithm to obtain the lowest energy cost path for each UAV. To find such an optimized path, we solve a capacitated vehicle routing problem (CVRP) with a modified cost function and extra constraints. Realistic simulations using a physics engine and software-in-the-loop (SITL) are conducted to evaluate the feasibility of the proposed methods.
Publisher
Chinese Institute of Automation Engineers
Type
journal article