Path finding algorithm combining Field D* and Anytime D*

Question

I am looking for a pathfinding algorithm that has a few properties:

Speed is very necessary, and once a goal is selected a suboptimal path needs to be made quickly, and then can be improved upon during motion. This makes me think I need an "anytime algorithm"
The environment has other actors in it, and so changes constantly. This makes me think that an algorithm based on D* or D* Lite, so that the path can be quickly replaced.

These two requirements pointed me to Anytime D*, which seems like it would work fine except for my final requirement:

The returned path must be fast to follow, and direct. Paths produced by Field D* are great examples.

Is there an algorithm that combines the aspects of these two algorithms (Anytime D* and Field D*)? If not, is it possible to include the improvements of Anytime D* in Field D*? Or am I missing something and I already have what I need?

I am writing this later at night in my time, so I won't be able to respond to anything for a few hours. I hope I have enough context.

Thank you for any and all help!

l'll use this. Thank you! If you put your comment in a answer I will accept it. — Elijah Crum
– Elijah Crum, Commented Feb 19 at 13:45

StarshipBot · Accepted Answer · 2025-02-19 14:54:47Z

1

Use Anytime D* and apply path smoothing. Path smoothing has issues where the paths can be suboptimal, but if you're doing an Anytime algorithm it's going to be suboptimal anyways.

edited Feb 19 at 14:54

StarshipBot

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answered Feb 19 at 14:14

BlueRaja - Danny Pflughoeft

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