Multi-Objective Cooperative Paths Planning for Multiple Parafoils System Using a Genetic Algorithm

Qi, Chen; Zhao, Min; Jin, Yu; Yao, Min

doi:10.5028/jatm.v11.1005

Cited by 5 publications

(1 citation statement)

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“…The simulation results show that multiple parafoil systems can gradually gather into a flock and avoid collision between parafoils while steering to the target area. In [12], the author used an improved genetic algorithm to solve the multi-objective cooperative path planning problem for multi-parafoil systems. The simulation results show that the proposed method can plan feasible paths for multiparafoil systems, and there is no collision between parafoils.…”

Section: Related Workmentioning

confidence: 99%

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

Sun

Zhao

et al. 2019

IEEE Access

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The airdropping of multi-parafoil systems is of great significance to earthquake relief and military material transportation. In order to achieve the coordinated motion of multiple parafoils, a formation guidance strategy based on a virtual structure is proposed, which enables the formation of multiple parafoils to follow the planned trajectory and land at the target precisely. Firstly, since the main movement mode of a parafoil is turning and gliding, a multiphase homing trajectory for the reference point is planned, which mainly consists of a turning and gliding phase. Then, the trajectories of all the points on the virtual structure are generated by superimposing the relative positions of the virtual structure on the planned trajectory. Based on Lyapunov stability theory, a guidance strategy is designed to guide all parafoils to track the corresponding points on the virtual structure and complete the desired formation task. The simulation results show that the guidance strategy based on a virtual structure can effectively guide multiple parafoils to achieve coordinated formation movement. Parafoils dropped from different positions and heading angles can gradually gather together and form a formation, track the planned trajectories, land at the target point precisely and align up against the wind.

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Section: Related Workmentioning

confidence: 99%