Multi-agent path planning in complex dynamic environments: a fuzzy-enhanced A*/DWA integration with priority obstacle avoidance

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Yefeng Liu a b, Linze Song b, Zeyu Zhang b, Yihang Ma caSchool of Automation and Electrical Engineering, Linyi University, Linyi 276005, Shandong, ChinabSchool of Automation and Electrical Engineering, Shenyang Ligong University, 110159 Shenyang, ChinacLiaoning Key Laboratory of Information Physics Fusion and Intelligent Manufacturing of Numerical Control Machine Tools, Shenyang Institute of Technology, Shenfu Demonstration Zone, 113122, China

Received 18 December 2025, Revised 20 February 2026, Accepted 2 March 2026, Available online 6 March 2026, Version of Record 9 March 2026.
[size=1em]10.1016/j.eswa.2026.131962

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[Elsevier] Multi-agent path planning in complex dynamic environments: a fuzzy-enhanced A*/DWA integration with priority obstacle avoidance

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