### 基于梯度下降法的翼伞系统最优分段航迹规划

1. 1. 淮阴工学院 电子信息工程学院, 淮安 223003;
2. 南京航空航天大学 自动化学院, 南京 210016
• 收稿日期:2020-05-15 修回日期:2020-06-06 发布日期:2020-06-24
• 通讯作者: 陈奇 E-mail:chenqi2070@126.com
• 基金资助:
国家自然科学基金（51875289，61873124）；航空科学基金（2016ZD52036）

### Optimal segment constant trajectory planning for parafoil system based on gradient descent method

CHEN Qi1, ZHAO Min2, LI Yuhui2, HE Ziyang2

1. 1. Faculty of Electronic Information Engineering, Huaiyin Institute of Technology, Huai'an 223003, China;
2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
• Received:2020-05-15 Revised:2020-06-06 Published:2020-06-24
• Supported by:
National Natural Science Foundation of China (51875289, 61873124), Aeronautical Science Foundation of China (2016ZD52036)

Abstract: Traditional optimal control trajectory planning algorithms take precise landing against the wind and low energy consumption as the optimization objectives. However, the control process is usually a continuous curve, which is difficult to implement in engineering. Though the traditional multiphase trajectory planning algorithm can achieve the goal of precise upwind landing with a simple control process, the control energy consumption is large. To balance the objectives of precise upwind landing, low energy consumption, obstacle avoidance, and simple control operations, an optimal segment constant trajectory planning algorithm for parafoil systems based on the gradient descent method is proposed in this paper. In this algorithm, the control variable is parameterized, and the multi-objective optimization problems such as precise upwind landing, low control energy consumption and obstacle avoidance are transformed into weighted single objective optimization problems, and the optimal problem is solved using the gradient descent method. This paper further compares the proposed trajectory planning algorithm, the Gaussian pseudo-spectral optimal control trajectory planning algorithm, and the genetic multiphase trajectory planning algorithm, showing that the proposed optimal segment constant trajectory planning algorithm can achieve high landing precision, low control energy consumption, upwind landing and obstacle avoidance, with the control value being segment constant, which is easy to implement in engineering.