title: D* lite: what heuristic function should I use?
body: <p>I'm trying to implement the D*-Lite pathfinding algorithm, as described in the 2002 article by Koenig and Likhachev for grid based navgraph.</p>
  
  <p>But I don't see any heuristic functions in that paper. So, what functions should I choose? Can I use straight line distance or manhattan distance?</p>