Error: avdmanager: Command failed with exit code 1 Error output

When executing the command "ionic cordova run android" it presents the next error:

ANDROID_HOME=/Users/usuario/Library/Android/sdk
JAVA_HOME=/Library/Java/JavaVirtualMachines/jdk1.8.0_144.jdk/Contents/Home
No target specified and no devices found, deploying to emulator

Error: avdmanager: Command failed with exit code 1 Error output:
Exception in thread "main" java.lang.NoSuchMethodError: com.android.prefs.AndroidLocation.getAvdFolder()Ljava/lang/String;
    at com.android.sdklib.tool.AvdManagerCli.init(AvdManagerCli.java:278)
    at com.android.sdklib.tool.AvdManagerCli.run(AvdManagerCli.java:210)
    at com.android.sdklib.tool.AvdManagerCli.main(AvdManagerCli.java:200)