Autonomous fixed-wing aircraft are used in a variety of applications like remote sensing. These aircraft need to be fully autonomous so that they can be fielded with minimal maned staffing. For this to be done, the aircraft must be able to automatically find a motion plan for flying around as well as landing. Additionally, the runway or landing zone may be moving around. This project aims to develop a motion planner to create a path for a fixed-wing aircraft with the ability to reverse thrust from flying in the air to landing touchdown on a time-varying runway. It will also create a hybrid system for flight and landing dynamics so it can plan a path to bring the aircraft to a full stop on the runway using braking and friction forces.

Note: This project used OMPL (Open Motion Planning Library) for motion planning.