Incremental Heuristic Search in AI

Structure

The files of importance are D_star.py and LPAstar.py, implementing the D* algorithm and LPA* algorithm respectively. When running either of them, it will open a realtime matplotlib where the user can add obstacles. Adding an obstacle will trigger the algorithm to recalculate the optimal path.

Executing

It is recommended to use a python version >= 3.0. The project dependencies are listed inside the requirements.txt file.

Running the D* Algorithm

python3 D_star.py

Running the LPA* Algorithm

python3 LPAstar.py

References

The following GitHub repository was leveraged for the code implementation.

Authors

Tom el Safadi