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://www.markbroyard.com/hot-sale-us-topo-7-5-minute-map-for-sunken-lake-mi-supply-limited-grab/