D* Computation Complexity Analysis
For a path planning system, one must consider the myriad of trade-offs when selecting the algorithmic approach to navigating your environment. Your approach is also heavily dependent on your prior knowledge of the map and the ability to detect any unexpected discrepancies in the map. As such, in this report, we will explore these very trade-offs with the following algorithms: Dijkstra, A*, and D*. This exploration will be conducted in partially known environments where obstacles are discovered as the robot executes the planned path; consequently replanning needs to occur in order to navigate the robot to completely to the goal.
