This poject is based on the original D* Lite paper by Sven Koenig and Maxim Likhachev.
The D* Lite algorithm was written to be a "novel fast replanning method for robot navigation in unknown terrain". It searches "from the goal vertex towards the current vertex of the robot, uses heuristics to focus the search" and efficiently uses the priortity queue to minimize reordering.
Currently written for Python 3 and the biggest requirement is having Pygame. Instructions for installing pygame can be found at https://www.pygame.org/wiki/GettingStarted.
Run the example demo with python3 main.py (or python main.py if you have Python 3 installed as such on your system or in your environment).
More notes to come on how the code is organized...
Feel free to add more specific questions about the project in comments on issue #1, so that I can add better documentation.