Robot Path Planning Implementation using Focused D* Algorithm

Through thorough study of Stentz's Focused D* research paper, I have developed and successfully debugged a MATLAB implementation for robotic path planning. The code implements key D* algorithm features including dynamic replanning capabilities and heuristic-focused search optimization. This practical tool significantly enhances robot navigation efficiency in complex environments by incorporating cost-based node evaluation and adaptive path correction mechanisms. During development, I implemented optimization techniques for the path planning algorithm to accommodate various environmental constraints and mission requirements. The solution includes functions for terrain mapping, obstacle avoidance, and optimal path calculation using the D* Lite variant. I believe this implementation can benefit both my research and other robotics researchers interested in advanced navigation algorithms. The MATLAB code demonstrates practical applications of robotic path planning and optimization techniques, featuring modular design with separate functions for graph initialization, priority queue management, and path reconstruction.