Landing Path Planning for Obstacle Avoidance of Civil Aircraft

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 Rapidly-exploring Random Tree* (RRT*) framework, two additional search strategies are introduced and adaptively assigned according to obstacle complexity, thus improving search efficiency. Compared to RRT^* and Bidirectional Rapidly-exploring Random Tree* (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.