Optimization in Multiphase Homing Trajectory of Unpowered Parafoil with High-altitude

In this paper, an improved multiphase homing algorithm of unpowered parafoil with high-altitude configuration is developed. The algorithm reduces the unnecessary energy consumption caused by multiple circling to consume altitude in the classical algorithm. Firstly, this paper derives the mathematical problems in the multiphase homing algorithm by the analytic method and then optimizes the algorithm by particle swarm optimization to minimize energy expenditure. Afterward, the planned trajectory and the energy changes of the two algorithms are obtained. The comparison shows that the algorithm in this paper, which can significantly save control energy, has some engineering significance and practical value.