A Novel Trajectory Planning Method for Parafoil Airdrop System Based on Geometric Segmentation Strategy

Abstract

Reasonable trajectory planning is the precondition for the parafoil airdrop system to achieve autonomous accurate homing, and safe landing. To successfully realize the self-homing of the parafoil airdrop system, a new trajectory optimization design scheme is proposed in this paper. The scheme is based on the parafoil’s unique flight and control characteristics and adopts a segmented homing design. The current common trajectory design method faces a problem, whereby straight-line flight distance before landing is limited by the radius of the height-reducing area. The core feature of the proposed design scheme is its avoidance of this problem, thereby ensuring landing accuracy and safety. Firstly, the different starting states of the parafoil airdrop system and the landing requirements were comprehensively considered, and the homing trajectory reasonably segmented. Based on the requirements of energy control, stable flight, and landing accuracy, the optimal objective function of the trajectory was established, and the trajectory parameters, calculation methods, and constraints were given. Secondly, the cuckoo search algorithm was applied to optimize the objective function to obtain the final home trajectory. Finally, the trajectory planning under different airdrop conditions was simulated and verified. The results showed that the planned trajectories could reach the target point accurately and meet the flight direction requirements, proving the proposed scheme’s correctness and feasibility.