Improved A* Algorithm and Bézier Curve Optimization-Based Path Plan for the Landing Control of Parafoil

To solve the problems of dynamic path planning in environments with mountain peaks and tall buildings, which parafoils may encounter during landing flights, this paper presents an extended A* algorithm. This topic is of practical importance due to its potential applications in various fields related to landing objects in safety-critical areas. To achieve this, the paper proposes a revised heuristic function and utilizes a C
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continuous piecewise Bézier curve for trajectory optimization. Unlike other 2D obstacle avoidance problems, the spiral planning approach is designed to achieve precise landings based on a segmented landing planning strategy, combined with the Particle Swarm Optimization (PSO) algorithm to solve the target parameters. The experimental results demonstrate that obstacle avoidance with high landing accuracy can be achieved for parafoil systems in complex terrain environments.