A*-Based Co-Evolutionary Approach for Multi-Robot Path Planning with Collision Avoidance

Morteza Kiadi, Enol García, José R. Villar, Qing Tan

Research output: Contribution to journalJournal Articlepeer-review

7 Citations (Scopus)


In this research, a coevolutionary collision free multi-robot path planning that makes use of A* is proposed. To find collision-free paths for all robots, we generate a route for each of robot using A* path finding but introducing restrictions for each collision found. Afterward, a co-evolutionary optimization process is implemented for introducing changes in the initial paths to find a combination of routes that is collision-free. The approach has been tested in mazes with increasing the number of robots, showing a robust performance although at high time expenses. Nevertheless, several enhancements are proposed to tackle this issue.

Original languageEnglish
Pages (from-to)339-354
Number of pages16
JournalCybernetics and Systems
Issue number3
Publication statusPublished - 2023


  • A* algorithm
  • co-evolutionary algorithms
  • evolutionary algorithms
  • multi-robot path planning


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