复杂环境下考虑动力学约束的翼伞轨迹规划

doi:10.7527/S1000-6893.2020.24301

Abstract

Abstract: Because of the large inertia and strong nonlinearity of the parafoil system, the object trajectory based on the mass model cannot satisfy the dynamic constraints of the parafoil under complicated terrain conditions. Therefore, application of high-order dynamic models to trajectory planning becomes an inevitable trend in calculating a real system trajectory. However, the dynamic model of the parafoil is complicated. Currently, one of the urgent problems to be solved is to ensure smooth and stable trajectories. To overcome this difficulty, this study builds an accurate six degree-of-freedom dynamic model of the parafoil which is then introduced into the trajectory planning. A multi-stage trajectory planning strategy is designed by improving the Gauss pseudo-spectrum method based on segment point planning, initial discrete point planning and discrete point self-configuration. The simulation results show the effectiveness of the proposed algorithm in overcoming the difficulty of obtaining a stable trajectory with a dynamic model by the traditional planning method. Accurate terrain avoidance is realized under complex external conditions, and the planning trajectory can satisfy the dynamic constraints of the parafoil.

Key words: parafoil systems, dynamic constraints, trajectory planning, multiple constraints, complex terrain

CLC Number:

V249

SUN Hao, SUN Qinglin, TENG Haishan, ZHOU Peng, CHEN Zengqiang. Trajectory planning for parafoil system considering dynamic constraints in complicated environment[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(3): 324301-324301.

References

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Trajectory planning for parafoil system considering dynamic constraints in complicated environment

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