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D* Lite search algorithm for robot path planning gets stuck in infinite loop. Why does my fix work and is it any slower?

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问题 For a robotics project I've been working with I want to use the D* Lite (optimized version) from paper Koenig, 2002 for dynamic path planning for a changing occupancy grid / cost map. The idea of the D* Lite search algorithm, as described in the paper, is that it works by basically running A* search in reverse starting from the goal and attempting to work back to the start. The solver then gives out the current solution and waits for some kind of change in the weights or obstacles that it is

Where can I find information on the D* or D* Lite pathfinding algorithm?

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问题 There are links to some papers on D* here, but they're a bit too mathematical for me. Is there any information on D*/D* Lite more geared towards beginners? 回答1: Wikipedia has an article on the topic: http://en.wikipedia.org/wiki/D* Also a D* Lite implementation in C is available from Sven Koenig's page: http://idm-lab.org/code/dstarlite.tar However I find the impenetrable math much easier to read than the C source code ;-) Another implementation of D* Lite (in C++) is available here: http:/

Approaches to a Dynamic Pathfinding Algorithm

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问题 My A* implementation works well for my static environment. If I would now like to work with a dynamic environment, i.e. certain costs between my nodes change while we are traversing from the start to the finish. From my reading so far I have found the LPA*, D* and D* Lite algorithm that could help me. Well my worst case scenario would be to implement all and see what works best. Is there any research done on comparing the capabilities of these algorithms? The papers that I have read so far

Where can I find information on the D* or D* Lite pathfinding algorithm?

阅读更多关于 Where can I find information on the D* or D* Lite pathfinding algorithm?

There are links to some papers on D* here , but they're a bit too mathematical for me. Is there any information on D*/D* Lite more geared towards beginners? michid Wikipedia has an article on the topic: http://en.wikipedia.org/wiki/D* Also a D* Lite implementation in C is available from Sven Koenig's page: http://idm-lab.org/code/dstarlite.tar However I find the impenetrable math much easier to read than the C source code ;-) Another implementation of D* Lite (in C++) is available here: http://code.google.com/p/dstarlite/ Well if pseudo code is hard for you (you don't have to read theorems and