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Path Planning: D* #59

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Merged
ShisatoYano merged 6 commits into from
Mar 20, 2026
Merged

Path Planning: D* #59

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190b030
add D* path planner component
guilyx Feb 9, 2026
e1f5420
add D* path planning simulation
guilyx Feb 9, 2026
74e6d54
add D* simulation assets (GIFs, map, path)
guilyx Feb 9, 2026
c3bcde0
add D* simulation test
guilyx Feb 9, 2026
0c4cc3a
add D* to README table of contents and examples
guilyx Feb 9, 2026
930b4b2
fix: remove navigate gifs dstar
guilyx Mar 16, 2026
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4 changes: 4 additions & 0 deletions README.md
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Expand Up @@ -25,6 +25,7 @@ Python sample codes and documents about Autonomous vehicle control algorithm. Th
* [A*](#a)
* [Bidirectional A*](#bidirectional-a)
* [Hybrid A*](#hybrid-a)
* [D*](#d)
* [Dijkstra](#dijkstra)
* [RRT](#rrt)
* [Informed RRT*](#informed-rrt)
Expand Down Expand Up @@ -121,6 +122,9 @@ Planning
#### Hybrid A*
Planning
![](src/simulations/path_planning/astar_hybrid_path_planning/astar_hybrid_search.gif)
#### D*
Planning with dynamic obstacle replanning
![](src/simulations/path_planning/dstar_path_planning/dstar_search.gif)
#### Dijkstra
Planning(Reduce frames by sampling every nth node to prevent memory exhaustion)
![](src/simulations/path_planning/dijkstra_path_planning/dijkstra_search.gif)
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