Combined trajectory planning of parafoil systems in complex environments

LI Yuhui; ZHAO Min; CHEN Qi; YAO Min; HE Ziyang

doi:10.7527/S1000-6893.2020.24566

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2021 , Vol. 42 >Issue 6: 324566 - 324566

DOI: https://doi.org/10.7527/S1000-6893.2020.24566

Electronics and Electrical Engineering and Control

Combined trajectory planning of parafoil systems in complex environments

LI Yuhui ,
ZHAO Min ,
CHEN Qi ,
YAO Min ,
HE Ziyang

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1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. Faculty of Electronic Information Engineering, Huaiyin Institute of Technology, Huaian 223003, China;
3. Nondestructive Detection and Monitoring Technology for High Speed Transportation Facilities-Key Laboratory of Ministry of Industry and Information Technology, Nanjing 210016, China

Received date: 2020-07-23

Revised date: 2020-08-28

Online published: 2020-09-14

Supported by

National Natural Science Foundation of China (51875289, 61873124); Aeronautical Science Foundation of China (20182952029); Fundamental Research Funds for the Central Universities (NS2019017); the Graduate Student Innovation Projects (kfjj20190319)

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Abstract

Traditional trajectory planning of parafoil systems mainly considers indicators such as landing accuracy and headwind landing. When the environment of the airdrop area is complicated with obstacles in the homing path of the parafoil system, obstacle avoidance has to be considered. Aiming at the problem that the parafoil airdrop process may encounter obstacles of mountains or tall buildings, this paper proposes a combined trajectory planning strategy for parafoil systems in complex environments. This method divides the parafoil airdrop area into an obstacle area and a landing area. In the obstacle area, the Rapid exploration Random Tree (RRT) algorithm is adopted to search for a feasible path. Since the RRT algorithm may cause edges and corners in the trajectory planning, it has been improved to meet the actual requirements of the parafoil airdrop by combining the characteristics of the parafoil model. The random search direction of the RRT algorithm makes it difficult to meet the requirements of headwind landing and the energy control of a parafoil system. Therefore, the multiphase homing is employed to design the trajectory in the landing area. The parafoil system energy control and headwind landing are realized by the Genetic Algorithm (GA) to solve the target parameters. The combined trajectory planning strategy for parafoil systems proposed in this paper can be solved quickly, and can simultaneously meet the requirements of parafoil system obstacle avoidance, energy control and headwind landing, obtaining a relatively smooth reference trajectory.

Key words： parafoil systems; trajectory planning; complex environments; combined; RRT; multiphase homing; GA

Cite this article

LI Yuhui , ZHAO Min , CHEN Qi , YAO Min , HE Ziyang . Combined trajectory planning of parafoil systems in complex environments[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021 , 42(6) : 324566 -324566 . DOI: 10.7527/S1000-6893.2020.24566

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