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

Algorithm 2

Time-based rewiring procedure.

(1)	for each ∈do
(2)	←Kinodynamic_Steering ();
(3)	if Time_Cost () + Time_Cost () < Cost () then
(4)	←Parent ();
(5)	E←(E\{(, )}) ∪ {(, )};
(6)	return G = (V, E);