With the continuous development of drone technology, its applications in various fields such as logistics, transportation, agriculture, and rescue have become increasingly widespread. However, due to the limited battery capacity of drones, they are unable to perform long-distance and large-scale operations. To address these limitations, extensive research has focused on drone fleets with vehicles. With the help of vehicles, task efficiency can be improved through the coordinated work of vehicles and drone fleets. The vehicle provides necessary support for long-term tasks by carrying more equipment and materials, while drones can rapidly cover large areas for aerial surveillance, delivery, and other high-speed tasks. This synergy between vehicles and drones not only improves the overall operational speed but also ensures continuous and efficient task execution.