Motion Dynamics RRT Algorithm for Optimal TF /TA Routing Planning

The existing route planning algorithms are directly applied to the remote
$\text{TF}/\text{TA}$
route planning of large and medium-sized fixed wing aircraft, and cannot simultaneously meet the requirements of efficiency, route consistency, and optimality. To deal with the problem, a motion dynamics RRT
^*
algorithm is proposed. Firstly, the characteristic of ellipses is utilized to effectively reduce the planning space in order to improve search efficiency; Next, in order to reduce the randomness of the RRT algorithm, a motion dynamics model of the aircraft is established and the state transition mode of nodes based on this model is designed; Finally, a cost function was designed to penalize the detour distance, climb altitude, and unsafe flight path. The experimental results on real DEM data show that the proposed algorithm can simultaneously meet the requirements of high efficiency, route consistency, and optimality for long-distance TF/TA route planning of large and medium-sized fixed wing aircraft.