An aircraft is approximated here as a 2-D point mass, moving with the limited speed and turning rate.A minimum time problem is be combined with collision avoidance constraints to form MILP.

• 将飞行器模型近似化为以恒定速度和有限转弯速率运动在两维平面上的质点，把最小时间表述与防撞约束相结合，形成MILP问题进行轨迹的最优化设计。