In this paper we consider a special type of trajectory optimization problem that can be viewed as a continuous-space analog of the classical shortest path problem. This problem is approached by space discretization and solution of a discretized version of the associated Hamilton-Jacobi equation. It was recently shown by Tsitsiklis  that some of the ideas of classical shortest path methods, such as those underlying Dijkstra's algorithm, can be applied to solve the discretized Hamilton-Jacobi equation. In more recent work, Polymenakos, Bertsekas and Tsitsiklis  have carried this analogy further to show that some efficient label correcting methods for shortest path problems, the SLF and SLF/LLL methods of  and , can be fruitfully adapted to solve the discretized Hamilton-Jacobi equation. In this paper we discuss parallel asynchronous implementations of these methods on a shared memory multiprocessor, the Alliant FX/80. Our results show that these methods are well suited for parallelization and achieve excellent speedup.
ASJC Scopus subject areas
- Computer Science(all)