This is the code for our following paper:
Tianci Zhang, Meng Ding, Hongfu Zuo. Improved approach for time-based taxi trajectory planning towards conflict-free, efficient and fluent airport ground movement. IET Intelligent Transport Systems, 2018, 12(10): 1360-1368.
The code works with Qt 4.8.3 and MinGW g++ 4.6.1 on Windows 10.