Aiming at problem that it is difficult to guarantee landing precision of airdrop system in obstacle areas and unknown wind field conditions

an online planning method is proposed. The multistage homing control method is significantly improved on the basis of setting up 6-DOF dynamic model

and the adaptive path planning algorithm is proposed which results in the reduction of flight time and energy consumption. A simulation environment with PD controller is designed to verify the feasibility of the proposed method. Simulation results show that the proposed algorithm satisfies requirement of precise.