Emergency supply delivery planning for cooperation between GRV and UAV

This paper introduces a collaborative mode between ground rescue vehicle (GRV) and unmanned aerial vehicle (UAV) into emergency delivery, aiming to alleviate the action burden on rescue personnel through collaborative transportation. In the constructed collaborative model, multiple UAVs and GRVs are included, with UAVs capable of visiting multiple task nodes after each launch. The GRV is not required to complete the UAV's support operations at the same node, and the collaborative process is dynamic. The GRV can synchronously perform rescue tasks, while the UAV can also visit some ineligible nodes to obtain support. These considerations are expected to enhance the flexibility of the collaborative process. To solve this model, a hybrid heuristic algorithm with a synchronization strategy is designed, comprising three components: route planning, time synchronization, and heuristic search. Compared to multiple benchmark algorithms, case test results verify the effectiveness of the proposed method. Through testing multiple parameter combinations and real-world cases, detailed analysis of collaboration characteristics under varying capabilities was conducted, providing management insights for applying collaboration modes in emergency delivery scenarios.