Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils

Abstract

Much effort has been invested during the past decades in design of parafoils for a wide range of payloads and in development of means for their guidance. Existing parafoils are capable of autonomous navigation using the global positioning system and other onboard sensors. The purpose of this study is to explore the advantages of coordination among multiple autonomous parafoils. Each parafoil is able to navigate to the target on its own by following a real-time-generated reference trajectory. A new method for trajectory generation is presented and behaviour-based rules are developed that control the relative motion of the descending parafoils. The set of simple rules results in an emergent behaviour known as flocking. The coupling between trajectory following and flocking is studied in a multiagent simulation. The simulation uses a realistic six-degrees-of-freedom model of a heavy cargo parafoil. The obtained results demonstrate the possibility of flocking behaviour for guided parafoils. The flocking rules ensure safe separation between the vehicles headed for the same target and allow the parafoils to follow a reference trajectory as a group.

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

“…Gurfil et al [9] proposed a topdown guidance algorithm and cooperative task management method to solve the problem of accurate airdrop of emergency supplies in wide-scale disasters, which significantly improved the probability of a successful airdrop. Rosich and Gurfil [10] discussed the cooperative control strategy among multiple autonomous parafoils. By following the reference trajectory, behaviour-based rules were developed that control the relative motion of multiple parafoils.…”