Coordinated Payload Delivery using High Glide Parafoil Systems

Abstract

The paper proposes a solution to the problem of coordinated drop of multiple parafoils to ensure collision-free maneuvers under strict spatial constraints. The solution proposed relies on the decoupling of space and time in the problem formulation. First, a set of feasible trajectories are generated for all parafoils using a new direct method of optimal control that takes into account rules for collision avoidance. A byproduct of this step yields for each system a spatial path to be followed. Each parafoil is then asked to execute a pure path following maneuver in three-dimensional space by resorting to a novel 3-D algorithm that enforces separation constraints. Simulations illustrate the potential of the methodology developed.