This is an example of AD* (Anytime Dynamic A*) Path Planning algorithm. Note that the search is going backwards. Click and drag on the grid to set up obstacles. After you set up an environment, type your decrement value or use the default value, for how AD* decreases ε, and hit Decrease to find the path that satisfies the current ε. Note that every time you update the grid, ε increases up to its initial value. Initial ε value can also be changed. Just type in a new value and hit Start Over. To reset the environment, hit Reset.


  - expanded state  
  - obstacle  
  - v value (cost from the goal to the current state)  
  - start point  
  - goal point  

  - path   

AD* Path Planning