Runway incursions present a significant safety risk during aircraft landing. To mitigate collision hazards, auxiliary systems must plan safe obstacle-avoidance paths based on environmental perception and risk assessment, while satisfying the aircraft's kinematic and performance constraints. This paper focuses on emergency avoidance scenarios in the landing phase and proposes a path exploration mechanism with dynamically allocated search strategies. Extending the RRT* framework, two additional search strategies are introduced and adaptively assigned according to obstacle complexity, thus improving search efficiency. Compared to RRT* and Bi-RRT*, the proposed approach reduces planning time and enhances search performance and success rate. Furthermore, the generated paths are refined via greedy optimization to meet kinematic constraints, increasing their feasibility.
Yang et al. (Fri,) studied this question.
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