An Accelerated Dual Fast Marching Tree Applied to Emergency Geometric Trajectory Generation

This paper addresses the generation of aircraft emergency trajectories with obstacle avoidance. After presenting in detail fast marching tree algorithm, this we propose an improvement its performance. First, free space checking function is sped up. Then, algorithm used twice, firstly sampling a few points to generate approximate trajectory, and secondly close first computed trajectory refine it. The proposed method significantly reduces computing time geometric generation.