Drone flight in urban areas faces challenges due to unreliable GNSS services. This innovation combines hardware and algorithms, allowing drones to deliver parcels directly to apartment balconies using LiDAR technology without manpower. Key features include:

• An advanced perception algorithm for precise localization.
• A LiDAR-based obstacle detection algorithm that adapts to various scenarios without pre-training.
• A robust control algorithm ensuring stability and safety in disturbances like wind.

This comprehensive solution integrates cutting-edge technologies, enabling seamless parcel delivery and safe drone operations in urban environments for various applications.