Subgroup algorithm composed of the intelligent algorithms is proposed for the multi-tasking cooperative path planning, which can avoid obstacle for the complex environment. Five kinds of intelligent multi-task collaborative planning algorithms, such as the particle swarm optimization (PSO) algorithm, the eight-direction recursive algorithm, the artificial potential field algorithm, the ant colony algorithm and the A* algorithm, are all integrated together, then the agents are divided into each subgroup for each task based on each intelligent algorithm to find the optimal path corresponding with the constraints, thus formed the subgroup algorithm, which are suitable for the multi-task collaborative planning in complex scenes. The effectiveness and feasibility of the multi-tasking cooperative path planning based on subgroup algorithm can be verified from the experiment results.