Towards Parallel Real-Time Trajectory Planning

  • Štěpán Kopřiva
  • David Šišlák
  • Michal Pěchouček
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 155)

Abstract

This paper exploits the computing power of widely available multi-core machines to accelerate the trajectory planning by parallelisation of the search algorithm. In particular we investigate the approach that schedules the workload on the cores using the hashing function based on the geographical partitioning of the search space. We use this approach to parallelize the AA* algorithm. In our solution, each partition of the geographical space is represented as an agent. The concept is evaluated on the simulation of real-time trajectory planning of aircraft respecting the environment and real aircraft performance models. We show that the approach decreases the planning time significantly on common multi-core machines preserving the quality of the trajectory provided by AA* algorithm.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Štěpán Kopřiva
    • 1
  • David Šišlák
    • 1
  • Michal Pěchouček
    • 1
  1. 1.Faculty of Electrical Engineering, Department of Computer Science and Engineering, Agent Technology CenterCzech Technical UniversityPragueCzech Republic

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