D* lite

Based on original article from Sven Koenig. Started as a fork of mdeyo, then diverted. Visualization is also based on tutorials for Pygame.

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World generation

World can be generated by:

1. from .txt file - see example grid folder
2. random generation with specification of size
3. from blank world by left mouse button clicking on free grid

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Starting visualization

Settings in main.py

• viewing range of robot: VIEWING_RANGE
• number of steps: f_step
• heuristic type:
  • 1 - euclidan
  • 2 - diagonal
• manual and random world generation:
  • number of vertices in x axis: x_div
  • number of vertices in y axis: y_div
  • start vertex coordinates (string) : start
  • goal vertex coordinates (string) : goal

Control

• one step: space bar
• multiple steps: f key
• add obstacle to vertex: left mouse button

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