Bi-Directional Drone Design and its Path Planning

There are two aspects to my project, one is optimized bi-directional drone designing and other is its path planning. The optimization in design lies in the fact that my drone can carry load both in +z and –z axis if its direction of motion is in x-y plane. This design optimization helps the drone to carry more payload than drones of same frame(basic chassis) weight category. In other words, my drone has greater payload to its own weight ratio(almost 0.8) than other drones with almost similar or same functionalities. Coming to path planning algorithm, I have taken a mathematical induction approach to solve the problem statement by clearly defining our conditions to follow to remain in the specified path along with constraints lying in the path. My goal as a path planner has to ensure that the drone follows the conditions specified without grappling into obstacles. Also, to achieve the desired goal in least possible time. The paths traversed by the drone would be stored into the memory processing system of the drone for future development of algorithm