Modeling and Simulation of Express Delivery Using Quadrotor UAVs

ABSTRACT: In this study, the trajectory planning and control problem for quadrotor unmanned aerial vehicles (UAVs) in logistics-oriented delivery scenarios. A smooth trajectory generation method based on spline curves is proposed to ensure continuous, stable, and feasible flight paths for quadrotor UAVs under dynamic constraints. The proposed method focuses on general UAV path planning rather than a specific express delivery optimization problem. A simulation platform is developed to evaluate the effectiveness of the trajectory planning and control framework, where a PID-based controller is implemented for trajectory tracking and attitude stabilization. The performance of the proposed method is validated through two representative emergency delivery scenarios, demonstrating accurate path tracking and stable flight behavior under environmental disturbances. The results indicate that the proposed framework provides a reliable simulation tool for UAV trajectory planning and control analysis, contributing to general UAV motion planning research rather than a specific delivery optimization formulation.