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A Combined Parafoil Track Planning Method in Complex Environment

A technology for trajectory planning and complex environments, applied in three-dimensional position/course control, instruments, control/adjustment systems, etc., can solve problems such as no longer applicable, obstacles in the airdrop area, etc., and achieve the effect of meeting the accuracy requirements of the drop point

Active Publication Date: 2021-07-13
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the problem that there are obstacles in the airdrop area and the traditional parafoil trajectory planning method is no longer applicable

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  • A Combined Parafoil Track Planning Method in Complex Environment
  • A Combined Parafoil Track Planning Method in Complex Environment
  • A Combined Parafoil Track 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 landing 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 traje...

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Abstract

The invention discloses a parafoil combined track planning method in a complex environment, which divides the parafoil airdrop area into an obstacle area with obstacles and an open and flat circular landing area with the target point as the center; In the area, the fast search random tree path planning algorithm is used to quickly search for feasible trajectories. The termination condition of the search is that the horizontal distance between the location where the path extends and the target landing point is less than or equal to the radius of the circular landing area. In the obstacle area, only Obstacle avoidance task: take the termination state of the track search in the obstacle area as the initial state of the track planning in the circular landing area, and use the segmented homing planning and design in the circular landing area to complete parafoil height control and headwind countermeasures. quasi-task. The invention divides the obstacle avoidance and other requirements that need to be met by parafoil track planning in complex environments into two stages, and at the same time can meet the smooth connection of the two track planning stages, and realizes parafoil navigation in complex environments. trail planning.

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 Patents(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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