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The paper describes the general controlling methods of controllable parafoil and designs a parafoil path planning method based on optimal control. To improve the accuracy of falling point and reducing manipulation quantity, this method transforms path planning of parafoil into parameter optimization by using the improved particle swarm optimization algorithm. Such an algorithm is effective for reaching a ideal solution, which is also the similar optimal solution of parafoil path planning. To verify the performance and the feasibility of this method, the traditional subdivision control method and optimal control method are compared respectively in simulation environment. Experiments show that the optimal control method of the parafoil path planning based on PSO can improve the accuracy of falling point and falling direction as well as reducing manipulation quantity.