多伞精准降落协同控制，兼顾安全与计算效率。
Coordinated guidance and control for multiple parafoil system landing
- 将多伞着陆建模为轨迹优化问题，分步设计分配与避障策略。
- 仿真验证方法有效且计算高效，支持实时应用。
- 适合大规模物资空投场景，尤其关注系统安全与算力平衡。
多伞着陆是实现大规模物资空投的关键技术。然而，如何设计一种无动力伞降系统下既无碰撞又计算高效的协同制导与控制方法仍是开放问题。本文提出一种多伞协同制导与控制方法：首先将多伞着陆过程建模为轨迹优化问题；设计着陆点分配算法，为每把伞分配目标点；为保障飞行安全，设计无碰撞轨迹重规划算法；在此基础上，采用非线性模型预测控制（NMPC）以利用非线性动力学模型实现轨迹跟踪；最后，通过伞具运动学模型降低轨迹计算负担，并采用移动窗口修正算法动态更新运动学模型以提高轨迹精度。仿真结果表明，所提方法在保证安全性的同时具备优异的计算效率。
原文摘要 · Abstract (English)
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To address this issue, this paper proposes a coordinated guidance and control method for multiple parafoil landing. First, the multiple parafoil landing process is formulated as a trajectory optimization problem. Then, the landing point allocation algorithm is designed to assign the landing point to each parafoil. In order to guarantee flight safety, the collision-free trajectory replanning algorithm is designed. On this basis, the nonlinear model predictive control algorithm is adapted to leverage the nonlinear dynamics model for trajectory tracking. Finally, the parafoil kinematic model is utilized to reduce the computational burden of trajectory calculation, and kinematic model is updated by the moving horizon correction algorithm to improve the trajectory accuracy. Simulation results demonstrate the effectiveness and computational efficiency of the proposed coordinated guidance and control method for the multiple parafoil landing.
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