Hacker Newsnew | past | comments | ask | show | jobs | submitlogin

Only if the area changing is near the start of the search, not near the goal. (i.e. near the sensors of a mobile robot, rather than near the destination far from the robot).

D* can be pathologically slower than repeated A* searches under such conditions.



I've been using a modified D*. It increases the grid size as the path moves out of the robot's observable area. This allows a fast search even when the goal is in a environment with known dynamic obstacles.

Ideally speaking, you need to plan in higher dimensions to get an optimal path in dynamic environments




Guidelines | FAQ | Lists | API | Security | Legal | Apply to YC | Contact

Search: