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Fighter aircraft, the emblem of modern military aviation, have decisively shaped the landscape of contemporary warfare. These machines are purpose-built and equipped to carry out a variety of missions. Mission planning is a common practice, usually done before the aircraft takes off. However, the volatile nature of warfare poses a major challenge to the precise execution of preplanned missions. If the established flight path needs to be adjusted during a mission, a new path must be created and the mission completed using the newly derived flight path. In this study, we present a novel approach to path planning using a modified RRT connect algorithm. By considering the nearest nodes in two trees starting from Tinit and Tgoal, we use a constrained sampling strategy within a bounded environment. This iterative process creates a tree between the current and target locations and a path is extracted using the A …