Improved D*Lite algorithm path planning in complex environment

Aiming at the problem of slow planning speed of D*Lite algorithm in unmanned cruise ship path planning, an improved D*Lite algorithm is proposed and applied to complex environments with dynamic obstacles. This method reduces the unnecessary search area by improving the heuristic function, so as to shorten the path search time, and smooth the obtained path to reduce the path planning distance. Experiments show that the improved D*Lite algorithm effectively improves the performance of path planning in many aspects.