动态寻路算法的方法
我的 A* 实现非常适合我的静态环境。 如果我现在想使用动态环境，即当我们从开始到结束遍历时，节点之间的某些成本会发生变化。
从到目前为止的阅读中，我发现了 LPA*、D* 和 D* Lite 算法可以帮助我。好吧，我最坏的情况是全部实施，然后看看哪种效果最好。
是否有任何研究来比较这些算法的功能？ 目前我读到的论文都只关注单一算法，而且由于实验环境不同，很难进行比较。
**一些背景信息：我正在使用 C++，我的环境是一个 3D 场景，我的搜索图使用导航网格表示。
My A* implementation works well for my static environment.
If I would now like to work with a dynamic environment, i.e. certain costs between my nodes change while we are traversing from the start to the finish.
From my reading so far I have found the LPA*, D* and D* Lite algorithm that could help me. Well my worst case scenario would be to implement all and see what works best.
Is there any research done on comparing the capabilities of these algorithms?
The papers that I have read so far just focus on a single algorithm at a time and since their experiment environments are different, it is hard to make a comparison.
**Some background information: I'm using C++ and my environment is a 3d scene with my search graph being represented using navmeshes.
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也许这篇论文可以帮助你，反应变形路线图：动态环境中多个机器人的运动规划
Russell Gayle Avneesh Sud Ming C. Lin Dinesh Manocha；摘要是这样的：
他们提出了一种基于物理的自适应路线图算法
缩回并更改其拓扑的表示形式
动态环境的作用。可以用它
规划单个机器人或多个机器人的运动
动态障碍。
Maybe this paper could help you, Reactive Deformation Roadmaps: Motion Planning of Multiple Robots in Dynamic Environments by
Russell Gayle Avneesh Sud Ming C. Lin Dinesh Manocha; The abstract goes like this:
They present an algorithm that is physically-based, adaptive roadmap
representation that retracts and changes its topology as a
function of the dynamic environment. Iit can be used
to plan the motion of a single robot or multiple robots among
dynamic obstacles.
自从您提出问题以来已经有一段时间了，所以也许您已经有时间尝试所有这些...但就其价值而言，D*-Lite 论文 (http://www.aaai.org/Papers/AAAI/ 2002/AAAI02-072.pdf）最后有一个部分，实验结果，比较了 LPA*、D* 和 A* 的性能。
It's been some time since you asked, so maybe you've already had time to try them all... But for what it's worth, the D*-Lite paper (http://www.aaai.org/Papers/AAAI/2002/AAAI02-072.pdf) has a section at the end, Experimental results, comparing performance with LPA*, D* and A*.