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Paper details
Number 2 - June 2016
Volume 26 - 2016
An adaptive multi-spline refinement algorithm in simulation based sailboat trajectory optimization using onboard multi-core computer systems
Roman Dębski
Abstract
A new dynamic programming based parallel algorithm adapted to on-board heterogeneous computers for simulation based
trajectory optimization is studied in the context of “high-performance sailing”. The algorithm uses a new discrete space
of continuously differentiable functions called the multi-splines as its search space representation. A basic version of the algorithm is presented in detail (pseudo-code, time and space complexity, search space auto-adaptation properties). Possible extensions of the basic algorithm are also described. The presented experimental results show that contemporary heterogeneous on-board computers can be effectively used for solving simulation based trajectory optimization problems. These computers can be considered micro high performance computing (HPC) platforms—they offer high performance while remaining energy and cost efficient. The simulation based approach can potentially give highly accurate results since the mathematical model that the simulator is built upon may be as complex as required. The approach described
is applicable to many trajectory optimization problems due to its black-box represented performance measure and use of
OpenCL.
Keywords
dynamic programming, black-box optimization, heterogeneous computing, micro HPC platform, cubic Hermite splines