<p>A parafoil system is easily affected by external environmental factors such as wind and terrain during its flight. For parafoil system control problems involving uncertain disturbances and obstacle avoidance, an optimal control algorithm with cell mapping method is proposed in this paper. Optimal control system is formulated by considering control inputs as an objective function principle. When continuous state space is discretized into cell state space, dynamic characteristics are represented through the mapping relationships between cells. The method proposed is based on Bellman’s optimality principle and employs an adaptive search strategy to obtain the global optimal solution while simultaneously achieving obstacle avoidance. The developed algorithm enables optimal control of fuzzy uncertain systems with wind loads, ensuring optimal homing even under disturbed conditions. Several examples show the applicability of the method to 3-DOF parafoil systems in complex environment, enabling autonomous homing with optimal trajectory.</p>