This is a simple grid based implementation for Dlite algorithm, which is proposed by Seven Koenig (http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf). Dlite is a performance-wise dynamic re-planning algorithm for path planning in a unknown environment, which is based on life-long planning A*. It proposed a new parameter, rhs, for each node and constantly check its consistency by verifying if the current rhs equals the minimum values of the g(s') + c(s,s').When the environment changed, the condition no longer hold and it will recompute the path based on the updated environment. It uses the previous info so that only node related to the change will affect the re-planning process, which efficiently reduce cost (time, memory) of the re-planning.

• OpenCV
• Cmake

git clone https://github.com/zzjkf2009/Dstar_lite_grip_planning
mkdir build
cd build
cmake ..
make

To run the code

./app/shell-app

to run the unit test

./test/cpp-test

There is the gif that demonstrate the re-planning process.