If you're looking for information on the D* or D* Lite pathfinding algorithms, I'd highly recommend focusing on D* Lite, as it's a more modern and efficient variant—D* itself is generally considered outdated today.

To help others understand D* Lite more intuitively, I've created a Unity-based visualization tool that walks through the algorithm using step-by-step snapshots. It's designed to clearly show how the algorithm responds to changes in the environment, which is a key feature of D* Lite.

I've also put together a comprehensive documentation (Explanation Link) that explains the algorithm in detail. It breaks down the pseudocode line by line, with commentary and visuals to support understanding. While it’s possible that there may be some mistakes, I’ve done my best to make it accurate and intuitive. If you catch anything off, feedback is welcome!

You can check out the project here:
Repo Link

If you're reading academic papers on D* Lite and find them dense, I think this could be a great companion resource to bridge the gap.