Dstar Lite FOR LINUX

Description:

Dstar Lite is a C implementation of the D* Lite algorithm as explained in [Koenig, 2002]. There are a few minor modifications to this code to improve computation time and path distance. This software is simple and easy to understand and integrate.

Key Features:

• [q/Q] - Quit


• [r/R] - Replan


• [a/A] - Toggle Auto Replan


• [c/C] - Clear (restart)


• Left mouse click - make cell untraversable (cost -1)


• Middle mouse click - move goal to cell


• Right mouse click - move start to cell

Cell Colors:

The cell colors represent different properties:

• Red - untraversable


• Green - traversable but with changed cost


• Red/Green with small purple square - The cell is on the openList


• Yellow - start cell


• Purple - goal cell

Working Test Program:

Here is a simple working test program that uses the Dstar class:

    #include "Dstar.h"

    int main() {

        Dstar *dstar = new Dstar();

        list mypath;



        dstar->init(0,0,10,5);    // set start to (0,0) and goal to (10,5)

        dstar->updateCell(3,4,-1); // set cell (3,4) to be non-traversable

        dstar->updateCell(2,2,42.432); // set set (2,2) to have cost 42.432



        dstar->replan(); // plan a path

        mypath = dstar->getPath(); // retrieve path



        dstar->updateStart(10,2); // move start to (10,2)

        dstar->replan(); // plan a path

        mypath = dstar->getPath(); // retrieve path



        dstar->updateGoal(0,1); // moe goal to (0,1)

        dstar->replan(); // plan a path

        mypath = dstar->getPath(); // retrieve path



        return 0;

    }

  

Publisher:

Published by James Neufeld