Algorithm: Improved D* Lite algorithm.
Step 1	Parameter initialization
Step 2	Expand adjacent nodes from sgoal
Step 3	Compare current k(s) values and select the node with the smallest k(s) as the next expanded node
Step 4	Expand the nodes constantly until reach sstart
Step 5	Calculate the values of rhs(s) and move to the node with the smallest rhs(s)
Step 6	If the surrounding environment has changed
Step 7	update adjacent nodes and return to Step 2
Step 8	else the current node is the new start node s’start
Step 9	If node s’start is node sgoal
Step 10	Perform path smoothing
Step 11	else return to Step 2
Step 12	Complete path planning between every two target points