Fig. 3
From: Space D*
Example of operation using Space D*. (a) The current map of the robot, showing the obstacles in black and the shortest path from the current position (circle) to the goal position (cross), obtained by the execution of the D* algorithm. (b) The markers’ allocation area of the robot and the direction of movement (black arrow), obtained after the execution of Space Colonization Algorithm. (c) New obstacles are discovered in the environment, implicating update in the path to the goal. (d) The new direction of movement, based on the new allocation area and shortest path