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

Figure 10

Simulation results of parameter comparison in different scenarios. (a) Convergence test. (b) Step size test. (c) Goal bias test. The solid lines represent the cost of trajectory time (left vertical axis) and the dashed lines represent the computation time (right vertical axis).

(a)

(b)

(c)