Small Unmanned Aerial Vehicles Research Articles

Radar-optical fusion detection of UAV based on improved YOLOv7-tiny

This study presents a radar-optical fusion detection method for unmanned aerial vehicles (UAVs) in maritime environments. Radar and camera technologies are integrated to improve the detection capabilities of the platforms. The proposed method involves generating regions of interest (ROI) by projecting radar traces onto optical images through matrix transformation and geometric centroid registration. The generated ROI are matched with YOLO detection boxes using the intersection-over-union (IoU) algorithm, enabling radar-optical fusion detection. A modified algorithm, called SPN-YOLOv7-tiny, is developed to address the challenge of detecting small UAV targets that are easily missed in images. In this algorithm, the convolutional layers in the backbone network are replaced with a space-to-depth convolution, and a small object detection layer is added. In addition, the loss function was replaced with a normalized weighted distance loss function. Experimental results demonstrate that compared to the original YOLOv7-tiny method, SPN-YOLOv7-tiny achieves an improved mAP@0.5 (mean average precision at an IoU threshold of 0.5) from 0.852 to 0.93, while maintaining a high frame rate of 135.1 frames per second. Moreover, the proposed radar-optical fusion detection method achieves an accuracy of 96.98%, surpassing the individual detection results of the radar and camera. The proposed method effectively addresses the detection challenges posed by closely spaced overlapping targets on a radar chart.

Improving Irrigation Management of Cotton with Small Unmanned Aerial Vehicle (UAV) in Texas High Plains

The rapid decline in water availability for irrigation on the Texas High Plains (THP) is a significant problem affecting crop production and the viability of a large regional economy worth approximately USD 7 billion annually. This region is the largest continuous cotton-producing area in the United States, and the timely delivery and efficient use of irrigation water are critical to the sustainability and profitability of cotton production in this region. Current irrigation scheduling must be improved to reduce water consumption without compromising crop production. Presently, irrigation scheduling based on reference evapotranspiration (ETo) is limited due to the lack of reliable and readily available in-field weather data and updated crop coefficients. Additionally, in-field variability in crop water demand is often overlooked, leading to lower irrigation efficiency. To address these challenges, we explored the potential use of an unmanned aerial vehicle (UAV)-based crop monitoring system to support irrigation management decisions. This study was conducted in Lubbock, Texas, in 2022, where high temporal and spatial resolution images were acquired using a UAV from a cotton field experiment with four irrigation levels. Soil moisture and canopy temperature sensors were deployed to monitor crop response to irrigation and rainfall. The results indicated a significant effect of water stress on crop growth (revealed by UAV-based canopy cover (CC) measurements), yield, and fiber quality. Strong correlations between multi-temporal CC and lint yield (R2 = 0.68 to 0.88) emphasized a clear trend: rainfed treatments with lower yields exhibited reduced CC, while irrigated plots with higher CC displayed increased yields. Furthermore, irrigated plots produced more mature and uniform fibers. This study also explored various evapotranspiration calculation approaches indicating that site-specific CC measurements obtained from a UAV could significantly reduce irrigation application. A regression model linking evapotranspiration to canopy cover demonstrated promising potential for estimating water demand in crops with an R2 as high as 0.68. The findings highlight the efficacy of UAV-based canopy features in assessing drought effects and managing irrigation water in water-limited production regions like the THP.

Head and neck injury risk resulting from impact with small unmanned aerial vehicles: effect of impact speed, angle, and location

It is necessary to analyse the injury risk caused by UAV to establish management standards. A lightweight quadrotor UAV was used to assess the risk of human head and neck injury, taking the impact speed, UAV position, and impact angle into account. First, the MAVIC2 UAV- Hybrid III dummy impacting FE model was developed and verified against the UAV impact tests. Second, lots of simulations were conducted under different impact scenarios to analyse the head and neck injury. Under vertical impact condition, HIC and Nij grew exponentially as the impact speed increased. While under the horizontal impact condition, HIC increased in the form of the power function and Nij increased exponentially. Under vertical impact condition at 20 m/s (maximum flight speed, corresponding to the impact energy of 181.4 J), the HIC was 54% of the threshold, while the Nij was 88% of the threshold, which illustrated that the injury risk of the neck was high, while that of the head was low. Under horizontal impact condition at 20 m/s (181.4 J), the HIC was 51% of the threshold, and the Nij was 24% of the threshold, which illustrated that the injury risk of both the head and neck was low. HIC declined exponentially as the impact angle increased, whereas Nij increased in the form of the power function. Among all the impact positions, the UAV’s arm caused the least injury risk, while the transverse falling attitude between the two arms and the reverse vertical falling attitude generated higher injury risks.

Planar curved path following controller for a small fixed-wing unmanned aerial vehicle with constrained parameters optimized by nonlinear model predictive control

Path following presents a pivotal challenge within the realm of small fixed-wing unmanned aerial vehicles. Firstly, a Lyapunov-stable path guidance law was formulated to follow specific planar curved paths. To ensure differentiability of the guidance law, a modified, smooth saturation function was derived. Secondly, an analysis was conducted to ascertain the interrelationship between control parameters and input constraints, thereby identifying the relevant parameter domains. Thirdly, the nonlinear model predictive control technique was harnessed to optimize both guidance law parameters, enhancing the unmanned aerial vehicle’s capacity to achieve optimal performance in both straight-line and circular path following, hereafter referred to as PFC_NMPC. By leveraging Lyapunov stability arguments for switched systems, the stability of the corresponding nonlinear switched system was guaranteed. In this study, square and circular paths were generated to assess the path-following control of a simulated fixed-wing unmanned aerial vehicle. The performance of various guidance laws, including those with fixed parameters (PFC), those with parameters tuned using fuzzy logic (PFC_FL), PFC_NMPC, vector field, and pure pursuit with line-of-sight, was compared. Notably, the proposed PFC_NMPC method exhibited the ability to expedite the unmanned aerial vehicle’s convergence to the desired path while maximizing the effective flight path length.

Parameter optimization for two-stroke direct-injection spark-ignition aviation kerosene engine

The type of two-stroke spark-ignition(SI) engine is still the main power sources of small and medium unmanned aerial vehicles. A transition from gasoline to aviation kerosene or light diesel fuel and from carburetor or port-injection equipment to direct-injection(DI) equipment is prevailing. However, the performance of two-stroke DI-SI engine fueled with aviation kerosene is not very good under medium and high loads. Therefore, using the two-stroke DI-SI kerosene engine modified from port-injection SI gasoline engine as the research subject, the effects of different parameters on engine combustion and performance were studied and parameter optimization was also carried out at high loads. Based on the optimal fuel injection parameters, the influences of ignition time, compression ratio, scavenging/exhaust port area and scavenging/exhaust phase on the operating characteristics of two-stroke engine were analyzed. It was indicated that ignition timing, compression ratio and scavenging/exhaust phase have obvious impacts on engine performance, while the scavenging port area shows little impact on engine performance. An optimization calculation with genetic algorithm was made by determining the optimal values of six parameters such as compression ratio, ignition time, scavenging port area, exhaust port area, scavenging phase and exhaust phase. After optimization, the power(P) of the engine was increased by 7.6 % and the thermal efficiency(η) was enhanced by 3.2 % without knock. The results will lay a foundation for further design and research of two-stroke aviation RP-3 SI-DI engine.

Anti-UAV410: A Thermal Infrared Benchmark and Customized Scheme for Tracking Drones in the Wild.

The perception of drones, also known as Unmanned Aerial Vehicles (UAVs), particularly in infrared videos, is crucial for effective anti-UAV tasks. However, existing datasets for UAV tracking have limitations in terms of target size and attribute distribution characteristics, which do not fully represent complex realistic scenes. To address this issue, we introduce a generalized infrared UAV tracking benchmark called Anti-UAV410. The benchmark comprises a total of 410 videos with over 438 K manually annotated bounding boxes. To tackle the challenges of UAV tracking in complex environments, we propose a novel method called Siamese drone tracker (SiamDT). SiamDT incorporates a dual-semantic feature extraction mechanism that explicitly models targets in dynamic background clutter, enabling effective tracking of small UAVs. The SiamDT method consists of three key steps: Dual-Semantic RPN Proposals (DS-RPN), Versatile R-CNN (VR-CNN), and Background Distractors Suppression. These steps are responsible for generating candidate proposals, refining prediction scores based on dual-semantic features, and enhancing the discriminative capacity of the trackers against dynamic background clutter, respectively. Extensive experiments conducted on the Anti-UAV410 dataset and three other large-scale benchmarks demonstrate the superior performance of the proposed SiamDT method compared to recent state-of-the-art trackers.

Investigating Tailless UAV Flight Dynamics through Modeling, Simulation, and Flight Testing

Tailless Unmanned Aerial Vehicles (UAVs) offer several advantages over their conventional counterparts, including enhanced maneuverability, higher durability, and better stealth. However, they are challenging in their stability and control due to the absence of stabilizing and control surfaces that typically exist in conventional empennage. A crucial process for analyzing the tailless UAVs’ stability/performance characteristics and determining/validating their flight control parameters is done via the modeling and simulation of flight dynamics. This paper presents a comprehensive and systematic procedure for investigating the flight dynamics of a tailless UAV, including modeling, simulation, analytical verification, and flight testing, while also explaining the interconnections among these elements. It also addresses the common challenge of limited accessibility of UAV essential data through using diverse analytical, empirical, and experimental methods. First, a rapid and effective first-principles modeling approach is introduced to simulate the nonlinear six-degree-of-freedom flight dynamics of a small tailless UAV case study. The modeling process follows a modular framework where well-defined experiments and commercial of-the-shelf software, tools, and sensors are employed to build the necessary sub-models, including geometric, mass–inertia, aerodynamic, propulsion, and actuator models. Then, all sub-models are integrated into a simulation environment to allow the prediction of the UAV dynamic response obtained from the given control inputs. The developed flight dynamic model is subjected to a thorough verification process to ensure its integrity and proper functionality by comparing the simulated trim and natural flight modes with the calculated analytical results. Finally, a set of specific flight tests are performed to validate the developed simulation model and verify relevant performance characteristics for the case-study UAV. The results show that the proposed approach provides a systematic and straightforward method for examining the flight dynamics of small tailless UAVs with reasonable accuracy.

Research on a Sound Source Localization Method for UAV Detection Based on Improved Empirical Mode Decomposition.

To address the challenge of accurately locating unmanned aerial vehicles (UAVs) in situations where radar tracking is not feasible and visual observation is difficult, this paper proposes an innovative acoustic source localization method based on improved Empirical Mode Decomposition (EMD) within an adaptive frequency window. In this study, the collected flight signals of UAVs undergo smoothing filtering. Additionally, Robust Empirical Mode Decomposition (REMD) is applied to decompose the signals into Intrinsic Mode Function (IMF) components for spectrum analysis. We introduce a sliding frequency window with adjustable bandwidth, which is automatically determined using a Grey Wolf Optimizer (GWO) with a sliding index. This window is used to lock and extract specific frequencies from the IMFs. Based on predefined criteria, the extracted IMF components are reconstructed, and trigger signal times are analyzed and recorded from these reconstructed IMFs. The time differences between sensor receptions are then calculated. Furthermore, this study introduces the Chan-Taylor localization algorithm based on weighted least squares. This advanced algorithm takes sensor time delay parameters as input and solves a set of nonlinear equations to determine the target's location. Simulations and real-world signal tests are used to validate the robustness and performance of the proposed method. The results indicate that the localization error remains below 5% within a 15 m × 15 m measurement area. This provides an efficient and real-time method for detecting the location of small UAVs.

Numerical Simulation of the Advantages of the Figure-Eight Flapping Motion of an Insect on Aerodynamics under Low Reynolds Number Conditions.

In proceeding with the advanced development of small unmanned aerial vehicles (UAVs), which are small flying machines, understanding the flight of insects is important because UAVs that use flight are attracting attention. The figure-eight trajectory of the wing tips is often observed in the flight of insects. In this study, we investigated the more efficient figure-eight motion patterns in generating lift during the hovering motion and the relationship between figure-eight motion and Reynolds number. For this purpose, we compared the ratios of the cycle-averaged lift coefficient to the power coefficient generated from each motion by varying the elevation motion angle, which is the rotational motion that represents the figure-eight motion, and the Reynolds number. The result showed that the motion with a smaller initial phase of the elevation motion angle (φe0≤90°) could generate lift more efficiently at all Reynolds numbers. In addition, the figure-eight motion was more effective when the Reynolds number was low.

Application of unmanned aerial vehicles in emergency radiation monitoring

The paper is based on experiments within a project to prepare tutorial tasks on a training centre for testing radiation detectors fixed on unmanned aerial vehicles (UAVs) and in unmanned ground vehicles. The paper reports on a small UAV with NaI(Tl) 2“ x 2” detector for radiation monitoring in an emergency event and for radioactive source chasing and detection. The paper is focused on some special cases with the possibility to determine local air kerma rates and the activities of point sources. The detector was calibrated for air kerma rates from 5 nGy h−1 to 20 μGy h−1. The verified model of the NaI(Tl) 2″ x 2″ detector including the electronic module assembled on a UAV was designed in a Monte Carlo simulation. The model was used for calculating the air kerma rates at various altitudes above the ground both for a natural background and for selected point sources. The response functions for 137Cs, 131I, 192Ir, 60Co and 99Mo point sources were calculated by the Monte Carlo simulation to estimate their activities. Experiments were carried out with an NaI(Tl) 2“ x 2” detector fixed on a Robodrone UAV and flying over 60Co and 137Cs point sources over the airfield area and the local air kerma rates and the activities of the point sources were calculated with the AGAMA post-processing program. In addition, the response functions for 137Cs distributed uniformly on the surface were calculated by Monte Carlo simulation for future emergency purposes. The detection limits of selected man-made nuclides (point sources) were calculated.

West coast of Lake Baikal as a habitat for baikal seal Pusa sibirica in summer season

Using of the known rookeries on the western coast of Lake Baikal (including Olkhon Island and the isles in the Small Sea Strait) by baikal seal Pusa sibirica is assessed for modern conditions of anthropogenic pressure. All locations with geomorphological and lithological patterns suitable for rookeries are examined. For these purposes, the data from scientific literature were reviewed and the shores were researched visually with binoculars (from research boats) and from small UAVs, with particular attention to the historically known rookeries. Many new locations potentially suitable for haulouts and rookeries were found. However, the disturbance factor is significant for using these locations by seals — the most of known rookeries are visited sporadically by few seals in the short time between the floating ice disappearance and the beginning of the tourist high season. These rookeries were considered as «endangered» ones. When there is an urgent need (as in early summer 2020), seals come ashore in many locations, particularly on Olkhon Island, but don’t form new (not existed previously) rookeries. The threat of loss of the coast as a summer habitat for a significant part of the baikal seal population is possibly underestimated.

A Modular Soft Sensing Skin for Fast Measurement of Wing Deformation in Small Unmanned Aerial Vehicles.

Insects, bats, and small birds show outstanding flight performance even under complex atmospheric conditions, which is partially due to the ability of these natural fliers to sense and react to disturbances quickly. These biological systems often use large numbers of sensors arrayed across their bodies to detect disturbances, but previous efforts to use large arrays of sensors in engineered fliers have typically resulted in slow responses due to the need to scan and process data from the large number of sensors. To address the challenges of capturing disturbances in a large sensing array with low latency, this work proposes and demonstrates a modular soft sensing system to quickly detect disturbances in small unmanned aerial vehicles. A large array of soft strain sensors with high sensing resolution covers the entire wingspan, providing rich information on wing deformation. Owing to the modular design, decentralized computation enables the sensing system to efficiently manage sensor data, resulting in sufficiently fast sampling to capture wing dynamics while all 32 sensors embedded in the modular soft sensing skin are used. This hardware architecture also results in significantly reduced noise in the sensing system, leading to a high signal-to-noise ratio. These methods can ultimately enable fast and reliable control of both soft and rigid robotic systems using large arrays of soft sensors.

UAV Detect and Avoid from UTM-Dependent Surveillance

A hierarchical unmanned aircraft system (UAS) traffic management (UTM) system has deployed 45 ground transceiver stations (GTS) for UAS services in Taiwan. This UTM system covers most areas for UAV-dependent surveillance using ADS-B Like technology. UTM Controller can monitor all UAV flights under transparent surveillance in low airspace. Controller-initiated UAV “detect and avoid” (DAA) mechanism assists UAV separation to ensure flight safety on UTM for small multirotor UAVs. From similar concept to traffic alert and collision avoidance system (TCAS) for the manned aircraft system, the UTM software executes DAA functions to generate approach alerts to UTM Controller. Conflict is detected by heading arrow extrapolation from multiple approaching UAVs by their time to conflict (TTC) on icons. Traffic advisory (TA) and resolution advisory (RA) are pronounced on UTM console to controllers. The less priority UAV pilot will receive the controller-pilot communication (CPC) to perform avoidance resolution. In UTM, the surveillance data period is broadcasting at 5~8 seconds on LoRa (long-range wide-area network) chip. Referring to TA=48 seconds and RA=24 seconds, the signal delay in ADS-B Like system to UTM server is about 0.5 seconds and CPC response is measured about 3~5 seconds. From real flight tests, the RA is enough for the less priority pilot to maneuver UAV for avoidance. From real flight tests, the proposed DAA mechanism based on UTM-dependent surveillance is feasible to resolve multiple approaches. The developing UTM system using ADS-B Like technology is also examined of high availability with redundant reliability and performance stability for flight safety.

Application of UAV Multispectral Imaging to Monitor Soybean Growth with Yield Prediction through Machine Learning

The application of remote sensing, which is non-destructive and cost-efficient, has been widely used in crop monitoring and management. This study used a built-in multispectral imager on a small unmanned aerial vehicle (UAV) to capture multispectral images in five different spectral bands (blue, green, red, red edge, and near-infrared), instead of satellite-captured data, to monitor soybean growth in a field. The field experiment was conducted in a soybean field at the Mississippi State University Experiment Station near Pontotoc, MS, USA. The experiment consisted of five cover crops (Cereal Rye, Vetch, Wheat, Mustard plus Cereal Rye, and native vegetation) planted in the winter and three fertilizer treatments (Fertilizer, Poultry Liter, and None) applied before planting the soybean. During the soybean growing season in 2022, eight UAV imaging flyovers were conducted, spread across the growth season. UAV image-derived vegetation indices (VIs) coupled with machine learning (ML) models were computed for characterizing soybean growth at different stages across the season. The aim of this study focuses on monitoring soybean growth to predict yield, using 14 VIs including CC (Canopy Cover), NDVI (Normalized Difference Vegetation Index), GNDVI (Green Normalized Difference Vegetation Index), EVI2 (Enhanced Vegetation Index 2), and others. Different machine learning algorithms including Linear Regression (LR), Support Vector Machine (SVM), and Random Forest (RF) are used for this purpose. The stage of the initial pod development was shown as having the best predictability for earliest soybean yield prediction. CC, NDVI, and NAVI (Normalized area vegetation index) were shown as the best VIs for yield prediction. The RMSE was found to be about 134.5 to 511.11 kg ha−1 in the different yield models, whereas it was 605.26 to 685.96 kg ha−1 in the cross-validated models. Due to the limited number of training and testing samples in the K-fold cross-validation, the models’ results changed to some extent. Nevertheless, the results of this study will be useful for the application of UAV remote sensing to provide information for soybean production and management. This study demonstrates that VIs coupled with ML models can be used in multistage soybean yield prediction at a farm scale, even with a limited number of training samples.

2-D inverse synthetic aperture Ladar imaging and tracking of maneuvering extended Micro-Doppler UAVs in atmospheric turbulence with skewness

The inverse synthetic aperture Ladar (ISAL) is an important system for observation of space objects. Here, a 2-D ISAL imaging and tracking algorithm is proposed for low observable maneuvering extended objects tracking (M−EOT) such as small space UAVs. When imaging maneuvering objects with ISAL, dispersion and Doppler frequency time-variation exist in the range and cross-range echo signal, respectively. Additionally, the ISAL system can achieve high-resolution images for long-range moving objects, while its performance is affected by atmospheric turbulence. Atmospheric turbulence is a very complicated random state formed by the instability of regular laminar flow at a high maneuvering velocity, which is caused by the random motion of the atmosphere and lead to the random fluctuation of the atmospheric refractive index. Therefore, in real-time M−EOT scenario, the measurements distribution over the whole object is not symmetrical but distributed and skewed in some portions while a target maneuvers due to the unbalanced of reflection that caused by the atmospheric turbulence. In practice, the micro Doppler effect caused by micro moving components such as drone rotors will seriously affect the focused ISAL imaging of the M−EOT’s rigid body. To solve these problems in real-time low observable M−EOTs imaging and tracking from 2-D ISAL system, a novel robustness measurement model and recursion multi-Bernoulli track-before-detect filter based on a multiple model skewed non-symmetrically normal distribution is represented with more than one ellipse and lower complexity. In this paper, the Radon-Laplace method is presented to reduce this micro-Doppler effect in ISAL imaging. Additionally, we will eliminate the effect of atmospheric turbulence in ISAL Imaging by using the network-based variance–covariance estimation (NVCE) weighting method. In particular, we describe the M−EOT’s state through the random matrices model (RMM). In RMM, the extent is applied by one ellipse, which often lose information about size, heading, and shape, when the scatter centers are distributed symmetrically around the M−EOT’s centroid. In this paper, a new observation model used to modify a sub-RMM by considering the characteristics of 2-D ISAL data is proposed. Simulation results demonstrates the proposed robustness algorithm with the influence of the atmospheric turbulence and micro-Doppler.

A Deep Neural Network-Fused Mathematical Modeling Approach for Reliable Flight Control of Small Unmanned Aerial Vehicles

In order to ensure the flight safety of small unmanned aerial vehicles (UAVs), a deep neural network-fused mathematical modeling approach is put up for reliable flight control of small UAVs. First, engine torque, thrust eccentricity and initial stop angle are taken into full consideration. A six-degree-of-freedom nonlinear model is formulated for small UAVs, concerning both ground taxiing and air flight status. Then, the model was linearized using the principle of small disturbances. The linearized model expressions for both ground taxiing and air flight were provided. In addition, radial basis function neural networks are used for online approximation to address the nonlinearity and uncertainty caused by changes in aircraft aerodynamic parameters. At the same time, to compensate for the external disturbance and the approximation error of the neural network, the system robustness is improved by selecting reasonable design parameters. This helps the whole flight control system obtain better tracking control performance. At last, some simulation experiments are carried out to evaluate the performance of the proposed mathematical modeling framework. The simulation results show that the proposal has stronger convergence ability, smaller prediction error, and better performance. Thus, proper proactivity can be acknowledged.

Helicopter short-term collision avoidance with sampling-based model predictive control

AbstractAutomatic helicopter flight in uncertain surroundings remains a challenging task due to sudden changes in environment, requiring fast response to guarantee safe and collision-free guidance. Increasing numbers of small unmanned aerial vehicles, which are not covered by air traffic control, pose a potential threat to rotorcraft operating in lower airspace. To provide collision avoidance in this scenario, the capability of reacting immediately to appearing obstacles and guiding the rotorcraft along feasible evasive trajectories is required. This paper presents an approach to short-term collision avoidance based on model predictive techniques. The proposed method, originally developed for automotive applications, finds optimal control inputs by predicting a set of trajectories utilizing a model resembling the helicopter dynamics. Compared to model predictive control, no iterative optimization is adopted, resulting in deterministic execution time. The proposed method is evaluated by closed-loop simulations with a non-linear helicopter model. Additional hardware-in-the-loop simulations are conducted to examine the real-time capability of the approach.

Research Progress of High-Speed Data Transmission Technology for Lightweight and Small-Sized Unmanned Aerial Vehicle Platforms

With the continuous development of science and technology, UAV technology has been widely used in various fields. As an essential part, light and small UAV platforms have the advantages of being small, lightweight, and easy to operate and thus have been widely used in aerial photography, monitoring, rescue, and other fields. However, the traditional data transmission method can no longer meet the demand for the data transmission speed and stability of small and light UAV platforms. Wireless optical communication has the advantages of being high-speed and license-free, as well as having a large bandwidth strong anti-interference ability, and good confidentiality. Therefore, this paper aims to study high-speed data transmission technology for light and small UAV platforms to improve their transmission speed and stability. In this paper, the characteristics and advantages of UAV airborne laser communication are first elaborated to illustrate the advancements and importance of data transmission technology based on light and small UAV platforms. Then, the composition of a UAV airborne laser communication system is clarified to illustrate the feasibility of conducting airborne laser communication research. Then, the current domestic and international research status of people on light and small UAV airborne laser communication high-speed data transmission systems is reviewed, and its key technical features are analyzed. Finally, the prospects for its application and development trend are investigated.

Optimisation of Multi-Type Logistics UAV Scheduling under High Demand

At present, interest in the application of unmanned aerial vehicles (UAV) for delivery is growing. A new “multi-type of UAV collaborative delivery” mode has been proposed. Through a combination of large, medium and small UAVs, the delivery capabilities of the UAV logistics system are significantly improved. Sometimes there is high demand, resulting in planned delivery routes that are no longer feasible, and even cause a shortage of distribution centre capacity and drones. This study explores logistics delivery strategies to solve problems caused by high demand. In this study, a multitype and multidistribution UAV model was established with the objective of minimising the total cost of distribution by considering factors such as the UAV energy consumption, load and distribution centre conditions. An improved ant colony algorithm was designed and its effectiveness was verified through the variability of the calculation time and multiple calculation results of different-scale examples. Finally, the classic vehicle routing problem (VRP) case is used in three scenarios to analyse the UAV scheduling optimisation problem. The results indicate that assisted delivery can reduce costs by 3% while ensuring delivery timeliness. The results of this study can provide guidance and benchmarks for the application of UAVs in urban logistics delivery systems.

Small UAV Urban Overhead Transmission Line Autonomous Correction Inspection System Based on Radar and RGB Camera

Small UAV Urban Overhead Transmission Line Autonomous Correction Inspection System Based on Radar and RGB Camera