Aircraft Parking Trajectory Planning in Semistructured Environment Based on Kinodynamic Safety RRT

Algorithm 1

Kinodynamic safety RRT.

Input: occupancy cost map, start and goal configuration
Output: time-optimal path connecting qstart and qgoal
(1)	Vertex←{}; Edge←;
(2)	for i = 1 to n do
(3)	← Goalbias_Samplingi;
(4)	←Nearest_Connect (G = (V, E), );
(5)	←Kinodynamic_Steering ();
(6)	if Collision_free () then
(7)	Tree.add_vertex ()
(8)	Tree.add_edge ()
(9)	xnear←Nearest_Neighbors (Tree, , ri)
(10)	for all (, ) do
(11)	Time-based_Rewiring ()
(12)	return G = (V, E);