Parafoil combined type flight path planning method in complex environment

A technology for trajectory planning and complex environments, applied in three-dimensional position/course control, non-electric variable control, instruments, etc., can solve problems such as no longer applicable, obstacles in the airdrop area, etc.

Active Publication Date: 2020-11-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] In order to solve the technical problems mentioned in the above-mentioned background technology, the present invention proposes a parafoil combined trajectory planning method in a complex environment to solve the problem that there are obstacles in the airdrop area and the traditional parafoil trajectory planning method is no longer applicable

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  • Parafoil combined type flight path planning method in complex environment
  • Parafoil combined type flight path planning method in complex environment
  • Parafoil combined type flight path planning method in complex environment

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Embodiment Construction

[0053] The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings.

[0054] The invention designs a parafoil combined track planning method under complex environment. According to the characteristics of the actual airdrop environment, the parafoil will be hindered by the terrain during the homing process, and the landing point is generally selected in an area with relatively open and flat terrain. In this case, the parafoil trajectory planning needs to achieve obstacle avoidance, altitude control, and headwind alignment and landing, and at the same time meet a certain landing accuracy. In order to achieve the above purpose, the parafoil airdrop area is divided into an obstacle area with obstacles and an open and flat circular landing area with the target point as the center. like figure 1 As shown, the rapid search random tree (RRT) path planning algorithm is used to quickly search for feasible trajectories ...

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Abstract

The invention discloses a parafoil combined type flight path planning method in a complex environment. The method comprises: dividing a parafoil air-drop area into an obstacle area with obstacles andan open and flat circular landing area with a target point as the circle center; quickly searching a feasible track in the obstacle area by adopting a quick search random tree path planning algorithm,and only considering an obstacle avoidance task in the obstacle area under the search termination condition that the horizontal distance between the position to which the path extends and the targetlanding point is less than or equal to the radius of the circular landing area; and taking the termination state of track search in the obstacle area as the initial state of track planning in the circular landing area, and completing parafoil height control and headwind alignment tasks in the circular landing area by adopting the planning design of segmented homing. Obstacle avoidance and other requirements needing to be met by parafoil route planning in a complex environment are divided into two stages to be processed, meanwhile, smooth connection of the two route planning stages can be met,and parafoil route planning in the complex environment is achieved.

Description

technical field [0001] The invention belongs to the field of path planning, and particularly relates to a method for planning a parafoil track. Background technique [0002] Parafoil fixed-point airdrop is an increasingly widely used material delivery method, and trajectory planning is the premise for the realization of parafoil fixed-point airdrop. The traditional parafoil trajectory planning methods mainly include segmental trajectory planning and optimal control trajectory planning. However, these two trajectory planning methods are carried out under the condition that the airdrop area is sufficiently open and flat. If the airdrop environment is complex, such as being blocked by mountains or tall buildings, the traditional segmented trajectory planning and optimal control trajectory Planning methods are no longer applicable. SUMMARY OF THE INVENTION [0003] In order to solve the technical problems mentioned in the above background art, the present invention proposes ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 李宇辉赵敏何紫阳姚敏郭瑞鹏徐君刘巍
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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