An Hungarian Simplified A-star-Throwing Algorithm for Multi-Drone Logistics Distribution

This paper addresses the multi-drone logistics distribution problem in a limited area with high-frequently occurring orders. To deal with the high-frequency distribution, a throwing module is deployed. To complete the allocation of random high-value goods as much as possible, a Hungarian and simplified A-star algorithm is introduced. As a result, a novel Hungarian simplified A-star-throwing algorithm (HSAT) is designed to achieve assignment optimization, obstacle avoidance and maximize the total reward of distribution. Three experiment scenarios are given to show that the scores associated with logistics distribution improve by $37.6 \%$ and $516 \%$ via HSAT compared with the Greedy algorithm and the original A-star algorithm. Meanwhile, the ablation experiment shows that the proposed throwing module improves the score by $8.37 \%$.