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<p>To address cooperative taxi trajectory planning for multiple aircraft on congested and constrained flight decks, trajectories must satisfy nonholonomic kinematic constraints while avoiding spatiotemporal conflicts. This paper proposes Hybrid A*-Safe Interval Path Planning (HA-SIPP), a trajectory planning method that integrates discrete-continuous hybrid validation to meet these requirements. The approach constructs a polygon-based collision model by expanding aircraft geometric contours, preserving shape characteristics while reducing unnecessary conservativeness. HA-SIPP generates kinematically feasible trajectories and resolves potential conflicts by embedding Hybrid A* motion primitives into the Safe Interval Path Planning (SIPP) framework. In particular, the hybrid validation mechanism combines safe-interval assessment in discrete state-time space with continuous-time conflict handling: conservative collision time windows are first derived using circumradii of the footprint envelopes, and a final safety certification is performed via polygon intersection checking. Experimental results on representative flight-deck layouts and fleet sizes under fixed time budgets show that HA-SIPP improves planning success and trajectory feasibility, and provides more reliable multi-aircraft conflict avoidance than traditional SIPP-based algorithms, demonstrating practical applicability in complex deck environments.</p>

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A Hybrid Discrete-Continuous Strategy for Multi-aircraft Trajectory Planning on Flight Deck

  • 期刊论文

  • 发表日期：

    2026年7月3日

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  • Wei Fu,
  • Qidan Zhu

摘要

To address cooperative taxi trajectory planning for multiple aircraft on congested and constrained flight decks, trajectories must satisfy nonholonomic kinematic constraints while avoiding spatiotemporal conflicts. This paper proposes Hybrid A*-Safe Interval Path Planning (HA-SIPP), a trajectory planning method that integrates discrete-continuous hybrid validation to meet these requirements. The approach constructs a polygon-based collision model by expanding aircraft geometric contours, preserving shape characteristics while reducing unnecessary conservativeness. HA-SIPP generates kinematically feasible trajectories and resolves potential conflicts by embedding Hybrid A* motion primitives into the Safe Interval Path Planning (SIPP) framework. In particular, the hybrid validation mechanism combines safe-interval assessment in discrete state-time space with continuous-time conflict handling: conservative collision time windows are first derived using circumradii of the footprint envelopes, and a final safety certification is performed via polygon intersection checking. Experimental results on representative flight-deck layouts and fleet sizes under fixed time budgets show that HA-SIPP improves planning success and trajectory feasibility, and provides more reliable multi-aircraft conflict avoidance than traditional SIPP-based algorithms, demonstrating practical applicability in complex deck environments.