Applying Color Code Coordinated LRTA* (C3LRTA*) Algorithm on Multiple Targets

In this paper, we have modified original LRTA* and C³LRTA* Algorithms, instead of single target we have use multiple targets in randomly generated mazes. Both modified algorithms have been applied to solve randomly generated mazes with multiple targets. We have evaluated both modified algorithms on a large number of test cases with random obstacles and varying obstacle ratio. Through simulation experiments, we have shown that C³LRTA* is effective in both search time and solution quality. In addition, the strategy used in C³LRTA* can be made more efficient if the number of agents and/or obstacle ratio is increased