D* Lite Path Planner
We attempted to develop a path planner that we could demonstrate in a ROS Turtlebot simulation. The planner would implement the D* Lite planning algorithm into the existing ROS Navigation stack to efficiently plan a dynamic path. The algorithm was written in C++ as a global path planner plugin for the ROS Navigation stack. While our ROS implementation of the algorithm was unsuccessful, we also visualized our D*Lite planner using Python.
The D* Lite algorithm is an iterative extension of the A* algorithm. Path calculations are updated as the map changes when the robot discovers new obstacles.
- Date: May 2018