Drone stations-aided beyond-battery-lifetime flight planning for parcel delivery

Abstract

This paper considers using drones to conduct the last-mile parcel delivery. To enable the beyond-battery-lifetime flight, drone stations are considered to replace or recharge the battery for drones. We focus on the flight planning problem with the goal of minimizing the total travel time from the depot to a customer, a key indicator of the quality of service. We investigate four typical ways for the drone to get extra energy at drone stations: 1) replacing the battery with a fresh one, 2) recharging the battery to the full capacity, 3) recharging the battery to the optimal level, and 4) recharging the battery to the optimal level accounting for the availability of drone stations (i.e., whether a drone station is occupied by other drones). While the first two scenarios can be formulated following the framework of integer linear programming, the last two scenarios turn into mixed-integer nonlinear programming problems. To address the later problems, we present a framework in which discretized state graphs are constructed first and then the optimal paths are found by graph searching algorithms. We propose a dynamic version of Dijkstra’s algorithm to deal with the unavailability issue of drone stations. The algorithm can quickly find the optimal flight path for a drone, and extensive computer-based experimental results have been presented to demonstrate the effectiveness of the proposed method.