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

Table 1

Tractor-aircraft parameters.

Parameter	Value
Minimum turning radius (r)	12 m
Length (l)	15.3 m
Wheel base (L)	8 m
Width (w)	6 m
Maximum velocity (v)	1.5 m/s
Maximum acceleration (a)	2 m/s^2
Maximum steering angle (φmax)	π/4