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

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