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D* Lite algorithm for partially known environments.
C++
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README.md

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.

Wikipedia

Requirements

If you plan on building the code yourself, you will need the following:

  • VC++ or GCC
  • FLTK 1.3

Structure

 bin/

Contains pre-built binary files to run on both Windows and Linux machines.

 ide/

Contains the project files for Visual Studio 2010 (Windows) and Eclipse (Linux).

 src/

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)).

Usage

alt text

Maps

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.

Execution

 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.

References

Koenig, S and Likhachev, M. Improved Fast Replanning for Robot Navigation in Unknown Terrain. Atlanta : Georgia Institute of Technology, 2002.

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