4 ms·
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 fro
by Schwolop 10y ago
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.
- kunaltyagi 10y agoI'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