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

Table 2

The map parameters.

Parameter	Value
Map size	300 m × 80 m
Cell resolution	0.5 m
Goal tolerance	0.5 m
Hard obstacle margin	0.2 m
Safety buffer δ	1.5 m
//	1.5/0.2/0 m/s