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

Figure 2

A notional aircraft carrier flight deck layout (a) and its corresponding speed map (b). Blue colour represents the velocity in the obstacle area; green colour represents the safety velocity in the buffer contour around the obstacle area; warm toned colour (yellow to orange) represents the maximum velocity in the sparseness area.

(a)

(b)