Table 1.
Meanings of model symbols.
Fig 1.
Schematic diagram of no-fly zones.
Fig 2.
Schematic diagram of obstacle-avoiding paths.
Fig 3.
Schematic diagram of 3D no-fly zones.
Fig 4.
Flight path in three-dimensional space.
Fig 5.
Relationship between delivery time and penalty cost.
Fig 6.
Relationship between delivery time and customer satisfaction.
Table 2.
IKM Pseudo – code.
Fig 7.
Schematic diagram of elements in the delivery area.
Fig 8.
Manhattan delivery route.
Table 3.
Pseudo-code for the UAV matching rules in the third stage.
Fig 9.
Schematic diagram of chromosome crossover.
Fig 10.
Schematic diagram of chromosome mutation.
Fig 11.
Delivery route diagram of Stage 4.
Table 4.
Basic information of customer points.
Fig 12.
Locations of open areas and no-fly zones.
Fig 13.
Distribution of distribution center and customer points.
Fig 14.
Schematic diagram of cluster centers in Phase 1.
Table 5.
Customer point clustering results.
Fig 15.
UAV delivery routes in Phase 2.
Fig 16.
Initial vehicle delivery routes in Phase 3.
Fig 17.
Final delivery routes of vehicle-assisted UAVs.
Table 6.
Vehicle delivery routes.
Table 7.
Costs and satisfaction of vehicle-assisted UAV delivery.
Table 8.
Comparison of results under different experimental scenarios.
Table 9.
Shapiro-Wilk test results.
Table 10.
t-Test analysis results.
Fig 18.
UAV-only delivery routes.
Fig 19.
Vehicle-only delivery routes.
Table 11.
Comparison of delivery route results under different scenarios.
Fig 20.
Division map of the delivery area.
Fig 21.
Final delivery routes for the large-scale instance.
Table 12.
Delivery plans for different vehicles.
Table 13.
Costs and satisfaction of vehicle-UAV collaborative delivery.
Table 14.
Cost comparison under different UAV load capacities.
Table 15.
Cost comparison under different UAV endurance ranges.
Table 16.
Cost comparison under different vehicle load capacities.