D* Lite Demonstration

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D* Lite Demonstration is a multi-platform (Java) open-source (GPLv3) application that shows how D* Lite algorithm works using pathfinding to compute routes on a grid for a robot with limited world perception as the domain. It allows user to "play" with this incremental heuristic search algorithm in order to understand it better. The main features available are:

• Editable map.
• It has simple neighborhood (up to 4 successors per node) and diagonal neighborhood (up to 8 successors per node).
• Step by step execution ("debug mode").
• The robot perception range is customizable.
• Uniform and non-uniform edge cost are available.

Downloads

• Source code:
  • Search Algorithms Demonstrations' Git repository at GitHub
• Binaries:
  • Latest version:
    • D* Lite Demonstration Standalone JAR - Version 2014_02_02*

• * Use the command "java -jar d_star_lite_demo.jar" to execute the demonstration.

Images

D* Lite Demonstration: following the optimal path that has been found. It will be recalculate when the robot perceives the obstacle changes.

D* Lite Demonstration: after recalculating the path on an uniform grid.

Release notes

• Version 2014_02_02:
  • Initial version.

References

• S. Koenig and M. Likhachev. D* Lite. In Proceedings of the AAAI Conference of Artificial Intelligence (AAAI), 476-483, 2002. (PDF)