To address the modeling complexity and multi-objective collaborative optimization challenges in multi-depot and multiple unmanned aerial vehicle (UAV) delivery task planning, this paper proposes a bi-layer planning framework, which comprehensively considers resource constraints, multi-depot coordination, and the coupling characteristics of path execution. The novelty of this work lies in the seamless integration of an enhanced genetic algorithm and tailored swarm optimization within a unified two-tier architecture. The upper layer tackles the task assignment problem by formulating a multi-objective optimization model aimed at minimizing economic costs, delivery delays, and the number of UAVs deployed. The Enhanced Non-Dominated Sorting Genetic Algorithm II (ENSGA-II) is developed, incorporating heuristic initialization, goal-oriented search operators, an adaptive mutation mechanism, and a staged evolution control strategy to improve solution feasibility and distribution quality. The main contributions are threefold: (1) a novel ENSGA-II design for efficient and well-distributed task allocation; (2) an improved PSO-based path planner with chaotic initialization and adaptive parameters; and (3) comprehensive validation demonstrating substantial gains over baseline methods. The lower layer addresses the path planning problem by establishing a multi-objective model that considers path length, flight risk, and altitude variation. An improved particle swarm optimization (PSO) algorithm is proposed by integrating chaotic initialization, linearly adjusted acceleration coefficients and maximum velocity, a stochastic disturbance-based position update mechanism, and an adaptively tuned inertia weight to enhance algorithmic performance and path generation quality. Simulation results under typical task scenarios demonstrate that the proposed model achieves an average reduction of 47.8% in economic costs and 71.4% in UAV deployment quantity while significantly reducing delivery window violations. The framework exhibits excellent capability in multi-objective collaborative optimization. The ENSGA-II algorithm outperforms baseline algorithms significantly across performance metrics, achieving a hypervolume (HV) value of 1.0771 (improving by 72.35% to 109.82%) and an average inverted generational distance (IGD) of 0.0295, markedly better than those of comparison algorithms (ranging from 0.0893 to 0.2714). The algorithm also demonstrates overwhelming superiority in the C-metric, indicating outstanding global optimization capability in terms of distribution, convergence, and the diversity of the solution set. Moreover, the proposed framework and algorithm are both effective and feasible, offering a novel approach to low-altitude urban logistics delivery problems.


    Access

    Download


    Export, share and cite



    Title :

    A Bi-Layer Collaborative Planning Framework for Multi-UAV Delivery Tasks in Multi-Depot Urban Logistics


    Contributors:
    Junfu Wen (author) / Fei Wang (author) / Yebo Su (author)


    Publication date :

    2025




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Heterogeneous, Multiple Depot Multi-UAV Path Planning for Remote Sensing Tasks

    Cho, Doo-Hyun / Jang, Dae-Sung / Choi, Han-Lim | AIAA | 2018


    Heterogeneous, Multiple Depot Multi-UAV Path Planning for Remote Sensing Tasks (AIAA 2018-0894)

    Cho, Doo-Hyun / Jang, Dae-Sung / Choi, Han-Lim | British Library Conference Proceedings | 2018


    Multi-Depot Pickup and Delivery Problem with Resource Sharing

    Yong Wang / Lingyu Ran / Xiangyang Guan et al. | DOAJ | 2021

    Free access

    Study on Multi-Depot Collaborative Transportation Problem of Milk-Run Pattern

    Lou Zhenkai / Li Zhenzhen / Luo Lieying et al. | DOAJ | 2016

    Free access

    NASA Shuttle Logistics Depot Support to Space Station Logistics

    United States; National Aeronautics and Space Administration / United States; Air Force | British Library Conference Proceedings | 1993