Coordinated Payload Delivery using High Glide Parafoil Systems

Kaminer, Isaac; Yakimenko, Oleg A.; Pascoal, A.

doi:10.2514/6.2005-1622

Cited by 8 publications

(4 citation statements)

References 15 publications

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“…Research into multi-parafoil air-drop systems is still in its infancy, and the related research results are not yet sufficient. Kaminer et al [7] firstly studied the coordinated transportation problem by using multiple parafoils with a high glide ratio. By planning a feasible collision-free path for each parafoil, each parafoil tracks the planned path precisely, and coordinated transportation is achieved.…”

Section: Related Workmentioning

confidence: 99%

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A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

Sun

Zhao

et al. 2019

IEEE Access

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The airdropping of multi-parafoil systems is of great significance to earthquake relief and military material transportation. In order to achieve the coordinated motion of multiple parafoils, a formation guidance strategy based on a virtual structure is proposed, which enables the formation of multiple parafoils to follow the planned trajectory and land at the target precisely. Firstly, since the main movement mode of a parafoil is turning and gliding, a multiphase homing trajectory for the reference point is planned, which mainly consists of a turning and gliding phase. Then, the trajectories of all the points on the virtual structure are generated by superimposing the relative positions of the virtual structure on the planned trajectory. Based on Lyapunov stability theory, a guidance strategy is designed to guide all parafoils to track the corresponding points on the virtual structure and complete the desired formation task. The simulation results show that the guidance strategy based on a virtual structure can effectively guide multiple parafoils to achieve coordinated formation movement. Parafoils dropped from different positions and heading angles can gradually gather together and form a formation, track the planned trajectories, land at the target point precisely and align up against the wind.

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Section: Related Workmentioning

confidence: 99%

“…1 shows the three views of a parafoil. Through the force analysis of parafoil, the dynamics model is obtained as follows [7], [8], [20]:…”

Section: System Modelling a Parafoil Modelmentioning

confidence: 99%

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

Sun

Zhao

et al. 2019

IEEE Access

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“…Multiagent coordination, as applied to autonomous parafoils, was addressed in several works. Kaminer et al [48] proposed a methodology for coordinated control of parafoils, where collision avoidance constraints were explicitly introduced during reference trajectory generation. Calise and Preston [30] used behaviour-based rules for coordination among the parafoils.…”

Section: Related Workmentioning

confidence: 99%

Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils

Rosich

Gurfil

2012

Proceedings of the Institution of Mechanical Engineers, Part G:

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Much effort has been invested during the past decades in design of parafoils for a wide range of payloads and in development of means for their guidance. Existing parafoils are capable of autonomous navigation using the global positioning system and other onboard sensors. The purpose of this study is to explore the advantages of coordination among multiple autonomous parafoils. Each parafoil is able to navigate to the target on its own by following a real-time-generated reference trajectory. A new method for trajectory generation is presented and behaviour-based rules are developed that control the relative motion of the descending parafoils. The set of simple rules results in an emergent behaviour known as flocking. The coupling between trajectory following and flocking is studied in a multiagent simulation. The simulation uses a realistic six-degrees-of-freedom model of a heavy cargo parafoil. The obtained results demonstrate the possibility of flocking behaviour for guided parafoils. The flocking rules ensure safe separation between the vehicles headed for the same target and allow the parafoils to follow a reference trajectory as a group.

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“…Specifically, the IDVD method [9] was recently used for a variety of real-time applications for unmanned underwater and air vehicles, rotorcraft, spacecraft and missiles. Also, it was suggested to be used for coordinated payload delivery [10]. Recently, it was applied to terminal guidance of ADS [11].…”

Section: Terminal Guidance Strategiesmentioning

confidence: 99%

Using direct methods for terminal guidance of autonomous aerial delivery systems

Yakimenko

Slegers

2009

2009 European Control Conference (ECC)

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Abstract-This paper discusses the usage of direct methods of calculus of variations for real-time optimization of a final turninto-the-wind maneuver for autonomous guided parafoil-based delivery systems. It reviews several approaches that are currently being pursued by different developers of such systems and discusses the necessity of usage and applicability of a direct method to optimize the final turn. The proposed approach seeks for an optimal solution within a certain class of parameterized inertial trajectories and further employs inverse dynamics to find the corresponding control. This approach has been successfully used in a variety of real-time applications already and proved to work well in a developed miniature aerial delivery system, Snowflake, as well. The paper presents the results of the most recent real drops and ends with a discussion of the developed algorithm as compared to another one, pursued by Draper Laboratory, where instead of parameterizing a reference trajectory the control itself is being parameterized. The paper ends with conclusions. 1

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Coordinated Payload Delivery using High Glide Parafoil Systems

Cited by 8 publications

References 15 publications

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

A Virtual Structure Formation Guidance Strategy for Multi-Parafoil Systems

Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils

Using direct methods for terminal guidance of autonomous aerial delivery systems

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