这是用D*算法实现机器人路径规划的JAVA程序，适用于动态路径环境下，可以在未知环境中快速的找到可行路线-This is the D* algorithm for robot path planning Java program, applicable to the dynamic path environment can quickly find a feasible route in an unknown environment

基于dijikstra和A*算法的改进A*算法，能在路径规划的各阶段更新节点信息，规划新的路径(The improved A* algorithm based on dijikstra and A* algorithm can update node information in all stages of path planning and plan new path.)