D* Lite (D Star Lite)
D* Lite is an incremental heuristic search algorithm by Sven Koenig and Maxim Likhachev that builds on LPA*, an incremental heuristic search algorithm that combines ideas of A* and Dynamic SWSF-FP.
If you plan on building the code yourself, you will need the following:
- VC++ or GCC
- FLTK 1.3
Contains pre-built binary files to run on both Windows and Linux machines.
Contains the project files for Visual Studio 2010 (Windows) and Eclipse (Linux).
Contains the source files of the project. The actual implementation of the D* Lite algorithm can be found in planner.h and planner.cpp (based on "Improved Fast Replanning for Robot Navigation in Unknown Terrain" by Sven Koenig and Maxim Likhachev - Figure 6: D* Lite: Final Version (optimized verion)).
The "maps" used for this project are grayscale bitmaps. The darker the pixel the more it costs to traverse it. Black pixels (RGB 0 0 0) are considered "unwalkable" while white pixels (RGB 255 255 255) cost "1". Pixel colors in between vary in value.
d-star-lite.exe "Simulator 1" "../maps/map-03-real.bmp" "../maps/map-03-robot.bmp" 0 0 249 249 30
To run the program, the following arguments must be passed via command line.
- [char*] Name of the window.
- [char*] Location of the real map.
- [char*] Location of the robot map.
- [int] Start x-coordinate.
- [int] Start y-coordinate.
- [int] Goal x-coordinate.
- [int] Goal y-coordinate.
- [int] Scanner radius.
Koenig, S and Likhachev, M. Improved Fast Replanning for Robot Navigation in Unknown Terrain. Atlanta : Georgia Institute of Technology, 2002.