“…In using a SP formulation, it was necessary for the model to discretize various trajectory variables such as the basic parameters within the discretized regions. It is the purpose of this paper to present a multiobjective optimal trajectory planner, which (1) is based upon the discrete dynamics aircraft model, (2) incorporates the physical constraints of aircraft, (3) compares different forms of cost function to achieve the 13 VS O HV P N M 14 T A H G N M 15 T A H P N M 16 T O H P N M 17 TS O H P N M 18,19 T O H P N M 20 S A H P N M 21 VST O HV P N M 22 TS O H P N M 23 TS O H P N M [24][25][26] T/S O HV P N M 27 TS O H P N M 28 VS O HV P N M 29 VS O HV P N M 30 S O H P N M 31 T O H P N M 32 T O H P N M 33 VS A HV P N M 34 TS O H P N M 35,36 T A H G N M 37, 38 T A H G N M 39, 40 T A H P N M 41 TS O H P N M 42 T O H P N M 43 T O H P N M 44 TS O H P N SP T O H G Y optimal solution, and (4) indicates that the proposed optimization model is flexible enough to handle more general forms of constraint and cost function. The inclusion of spatial grid converts the original trajectory planning model from that of a consecutive program to that of a discrete program, which can be solved, as shown later, rather efficiently and still retains the elegance of the original consecutive programming approach.…”