This paper proposes an improved algorithm applied to path planning for the inspection of unmanned aerial vehicles (UAVs) in urban pipe corridors. which introduces a collaborative game between spherical vector particle swarm optimization (SPSO) and differential evolution (DE) algorithms. Firstly. a high-precision 3D grid map model of urban pipe corridors is constructed based on the act... https://parisnaturalfoodes.shop/product-category/herbatint-ff4/