NSGAII based multi-objective homing trajectory planning of parafoil system

Abstract

Homing trajectory planning is a core task of autonomous homing of parafoil system. This work analyzes and establishes a simplified kinematic mathematical model, and regards the homing trajectory planning problem as a kind of multi-objective optimization problem. Being different from traditional ways of transforming the multi-objective optimization into a single objective optimization by weighting factors, this work applies an improved non-dominated sorting genetic algorithm II (NSGA II) to solve it directly by means of optimizing multi-objective functions simultaneously. In the improved NSGA II, the chaos initialization and a crowding distance based population trimming method were introduced to overcome the prematurity of population, the penalty function was used in handling constraints, and the optimal solution was selected according to the method of fuzzy set theory. Simulation results of three different schemes designed according to various practical engineering requirements show that the improved NSGA II can effectively obtain the Pareto optimal solution set under different weighting with outstanding convergence and stability, and provide a new train of thoughts to design homing trajectory of parafoil system.

Keywords

parafoil system / homing trajectory planning / multi-objective optimization / non-dominated sorting genetic algorithm (NSGA) / non-uniform b-spline

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