RRT-based Threat-Avoidance Trajectory Planning for Aircrafts (IEEE/CSAA GNCC)

a RRT based trajectory planning method is proposed for the aircraft penetration problem considering the radar cross section (RCS) dynamic characteristics. The radar detection probability model is established based on the RCS data of the aircraft under different attitude, and the penetration trajectory planning problem is formulated under the dynamics constraints. The RRT algorithm considers the trajectory cost in the extension process, which leads to an optimal solution. To verify the practicability of RRT in penetration problem, numerical experiments in different scenarios are completed, and the penetration trajectories obtained by RRT and RRT are analyzed. The simulation results indicate that compared with RRT, the trajectory planning method based on RRT can ensure the security of the penetration trajectory under multi-radar threats and reduce the time of the penetration trajectory.