Three dimensional D* algorithm for incremental path planning in uncooperative environment

Path planning algorithms play a significant role in autonomous navigation problems. There are several algorithms to compute the optimal path through a co-operative environment. However, for uncooperative environment, finding the global minima is not certain. There are effective algorithms like dynamic A* (D*), for finding an efficient path in uncooperative two dimensional spaces using the concept of local minima. For three dimensional spaces the problem becomes more complex as the traverse cost is dynamic for Z axis. We propose an algorithm for incremental path finding throughout the flight regime, as a concept modification of D*, to work on 3D environment.