Demo of D*'s dynamic path finding capabilities

This repository was adapted from https://github.com/zhm-real/PathPlanning. The credit for the codes belongs to the original author noted prior.

This repository is a demonstration of the classic path-finding algorithm D* in partially known or dynamically changing environments. D*, paper link: http://web.mit.edu/16.412j/www/html/papers/original_dstar_icra94.pdf

The Script that runs the D* demo is in the following directory: 'D_Star_Demo/Search_based_Planning/Search_2D/'

TO RUN, use the following terminal command: python3 D_star.py