Route Planning for Parafoil System Based on Chaotic Particle Swarm Optimization

摘要

The trajectory planning of parafoil and air-dropped robot system in the disaster environments is discussed.A chaotic particle swarm optimization is proposed to deal with trajectory planning of parafoil and payload system and the controlled object is the mass model of parafoil and payload system.The non-uniform B-spline is adopted to characterize the control law and achieve the parameterized design variables.So the optimal control problem of trajectory planning is transformed into a parameter optimization problem.Then the chaotic particle swarm optimization is employed for optimization.The optimal controls are smooth,so the control rope can be manipulated easily by controlling motors.The effectiveness of the approach is shown by simulation examples.