Iterative accelerated A* path planning

The paper provides a description of an iterative version of the Accelerated A* algorithm for path planning and its application in the air traffic domain for airplanes with defined motion dynamics operating in the Earth-centered, Earth-fixed coordinate system (GPS) on a spherical model of the Earth constrained by the landscape and special use airspaces (SUA). The motion dynamics of the airplanes is modeled using the Base of Aircraft Data (BADA) airplane performance models. The presented algorithm provides an extension of the A* algorithm that significantly reduces the search space and makes planning of the flight trajectories computationally tractable.