RoboCup Rescue Maze: A* Search

Aiming to participate in the RoboCup Rescue Maze competition, we developed a robot capable of travelling a maze. The robot initially didn’t know it’s location nor the map of the environment. After going through all the maze, the robot mapped the labirint and was capable of coming back to its initial position in an optimal way. For that last function, was used the A* Search Algorithm.

To make it easy to develop the A* Algorithm, a virtual environment was set using Processing. The robot was then emulated in a two-dimensional maze.

The A* Search Algorithm shows the best route to move from a point A to a point B. You can see more about the A* Search Algorithm in the book Artificial Intelligence: A Modern Approach by Stuart Russell and Peter Norvig.

Source Code

You can see the code and some more information about how to run it on Processing on the GitHub Repository.


Developed for the RoboCup Rescue Maze Competition.

Raptor B Team:

  • Italo Lelis de Carvalho
  • João Pedro Rosada Canesin


  • Igor Araujo Dias Santos

Italo Lelis

Undergraduate Engineering Student at the Federal University of Minas Gerais (UFMG), is learning about Artificial Inteligence and Applied Robotics.