An Enhanced Backtracking Search Algorithm for the Flight Planning of a Multi-Drones-Assisted Commercial Parcel Delivery System

Abstract

Using drones to carry out commercial parcel delivery can significantly promote the transformation and upgrading of the logistics industry thanks to the saving of human labor source, which is becoming a new component of intelligent transportation systems. However, the flight distance of drones is often constrained due to the limited battery capacity. To address this challenge, this paper designs a multi-drones-assisted commercial parcel delivery system, which supports long-distance delivery by a generalized service network (GSN). Each node of the GSN is equipped with charging piles to provide a charging service for drones. Given the limited number of charging piles at each node and the limited battery capacity of a drone, to ensure the efficient operation of the system, the flight planning problem of drones is converted into a large-scale optimization problem by a priority-based encoding mechanism. To solve this problem, an enhanced backtracking search algorithm (EBSA) is reported, which is inspired by the characteristics of the considered flight planning problem and the weak ability of the backtracking search algorithm to escape from a local optimum. The core components of EBSA are the designed comprehensive learning mechanism and local escape operator. Experimental results prove the validity of the improved strategies and the excellent performance of EBSA on the considered flight planning problem.