Unmanned aerial vehicles, or drones, have the potential to significantly reduce the cost and time of making last-mile deliveries and responding to emergencies. Despite this potential, little work has gone into developing vehicle routing problems (VRPs) specifically for drone delivery scenarios. Existing VRPs are insufficient for planning drone deliveries: either multiple trips to the depot are not permitted, leading to solutions with excess drones, or the effect of battery and payload weight on energy consumption is not considered, leading to costly or infeasible routes. We propose two multitrip VRPs for drone delivery that address both issues. One minimizes costs subject to a delivery time limit, while the other minimizes the overall delivery time subject to a budget constraint. We mathematically derive and experimentally validate an energy consumption model for multirotor drones, demonstrating that energy consumption varies approximately linearly with payload and battery weight. We use this approximation to derive mixed integer linear programs for our VRPs. We propose a cost function that considers our energy consumption model and drone reuse, and apply it in a simulated annealing (SA) heuristic for finding suboptimal solutions to practical scenarios. To assist drone delivery practitioners with balancing cost and delivery time, the SA heuristic is used to show that the minimum cost has an inverse exponential relationship with the delivery time limit, and the minimum overall delivery time has an inverse exponential relationship with the budget. Numerical results confirm the importance of reusing drones and optimizing battery size in drone delivery VRPs.
Our DDPs consider payload weight similar to the energy minimizing vehicle routing problem introduced by in @cite_16 . The authors of @cite_16 utilize a VRP that factors in the effect of a vehicle's payload on total costs, but is based solely on Newtonian physics, and is not verified against an actual vehicle. Unlike @cite_16 , the work by @cite_34 provides a linear fuel consumption model for trucks based on actual fuel consumption measurements from @cite_10 , along with an SA algorithm for minimizing the cost of routes. The load dependant VRP @cite_9 provides a local search heuristic for doing the same in pickup and delivery scenarios. While these VRPs consider the effect of payload weight on energy consumption, they appear to have been designed with vehicles that have relatively large capacities in mind, as they only let vehicles depart from the depot once. Drones have a limited carrying capacity, so if they can only leave the depot once, a large number will be required to satisfy demand in scenarios with many customers. To reduce the number and therefore cost of drones, we reuse them after they return to the depot.
@cite_9 @cite_16 @cite_10 @cite_34
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The present paper examines a Vehicle Routing Problem (VRP) of major practical importance which is referred to as the Load-Dependent VRP (LDVRP). LDVRP is applicable for transportation activities where the weight of the transported cargo accounts for a significant part of the vehicle gross weight. Contrary to the basic VRP which calls for the minimization of the distance travelled, the LDVRP objective is aimed at minimizing the total product of the distance travelled and the gross weight carried along this distance. Thus, it is capable of producing sensible routing plans which take into account the variation of the cargo weight along the vehicle trips. The LDVRP objective is closely related to the total energy requirements of the vehicle fleet, making it a credible alternative when the environmental aspects of transportation activities are examined and optimized. A novel LDVRP extension which considers simultaneous pick-up and delivery service is introduced, formulated and solved for the first time. To deal with large-scale instances of the examined problems, we propose a local-search algorithm. Towards an efficient implementation, the local-search algorithm employs a computational scheme which calculates the complex weighted-distance objective changes in constant time. Solution results are presented for both problems on a variety of well-known test cases demonstrating the effectiveness of the proposed solution approach. The structure of the obtained LDVRP and VRP solutions is compared in pursuit of interesting conclusions on the relative suitability of the two routing models, when the decision maker must deal with the weighted distance objective. In addition, results of a branch-and-cut procedure for small-scale instances of the LDVRP with simultaneous pick-ups and deliveries are reported. Finally, extensive computational experiments have been performed to explore the managerial implications of three key problem characteristics, namely the deviation of customer demands, the cargo to tare weight ratio, as well as the size of the available vehicle fleet. This paper proposes a new cost function based on distance and load of the vehicle for the Capacitated Vehicle Routing Problem. The vehicle-routing problem with this new load-based cost objective is called the Energy Minimizing Vehicle Routing Problem (EMVRP). Integer linear programming formulations with O(n2) binary variables and O(n2) constraints are developed for the collection and delivery cases, separately. The proposed models are tested and illustrated by classical Capacitated Vehicle Routing Problem (CVRP) instances from the literature using CPLEX 8.0. Fuel consumption accounts for a large and increasing part of transportation costs. In this paper, the Fuel Consumption Rate (FCR), a factor considered as a load dependant function, is added to the classical capacitated vehicle routing problem (CVRP) to extend traditional studies on CVRP with the objective of minimizing fuel consumption. We present a mathematical optimization model to formally characterize the FCR considered CVRP (FCVRP) as well as a string based version for calculation. A simulated annealing algorithm with a hybrid exchange rule is developed to solve FCVRP and shows good performance on both the traditional CVRP and the FCVRP in substantial computation experiments. The results of the experiments show that the FCVRP model can reduce fuel consumption by 5 on average compared to the CVRP model. Factors causing the variation in fuel consumption are also identified and discussed in this study.