Trajectory Optimization and Pick-Up and Delivery Sequence Design for Cellular-Connected Cargo AAVs

Jiangling Cao, Liang Yang, Dingcheng Yang, Tiankui Zhang, Lin Xiao, Hongbo Jiang, Dusit Niyato

Abstract: In this paper, we consider a cargo autonomous aerial vehicle (AAV)-aided multi-parcel pick-up and delivery network, where the communication ability of the AAV is provided by the ground base stations (GBSs). For such a system setup, our goal is to optimize the trajectory of the cargo AAV while minimizing the combined impact of total energy consumption and total outage time. Simultaneously, we aim to maximize overall user satisfaction throughout the entire flight duration. More specifically, we propose a pick-up and delivery of AAV (PDU) framework to address this problem and this framework consists of two parts. First, a simulated annealing (SA) algorithm is used to obtain the pick-up and delivery (P&D) order of parcels. On the basis of obtaining the P&D order through SA, we further use deep reinforcement learning (DRL) to optimize the flight trajectory of the AAV to ensure the expected communication quality between the AAV and GBSs. To verify the effectiveness of our proposed algorithms, we design three baseline strategies for comparison, and also investigate the effect of using the PDU framework with different weights. Finally, numerical results show that the performance of PDU strategy is improved by about 5%-30% compared with other strategies in solving the performance tradeoff of AAV energy consumption, communication quality, and user satisfaction.