Gliding path planning and tracking based on airdropping zone terrain model for precision airdrop system

摘要

Autonomous guided airdrop systems based on ram-air parafoils have been addressed to obtain the precision and accuracy of airdropped payload delivery, which has been studied as a two-body system, with flexible structure and 9 degrees of freedom (DOF). The gliding path of parafoil-payload system is directly affected by airdropping zone terrain model, which can be simplified and employed to generate the 3D trajectory. The scheme for tracking the trajectory can be developed to accurately control the lateral-directional yaw angle, which is based on adaptive neural network used to identify online the dynamic error is specified to design the command-tracking controller. It is to demonstrate a simple and effective way of incorporating artificial intelligence into the autonomous control to compensate for system modelling error and external disturbance, which could not only improve the robustness of the system further, but also improve the tracking precision in the process of adaptive parameters converging. Airdrop test results show that the proposed scheme can track the heading angle command with adorable precision.