j l" "" '. . i j .. .- -.... -
 ::::^ i<;::::::;::;:;:;: : ; :::::^

: : :: : *;*: *?s..S : : : : : : : ::: ::: ::: : : : : ; :' ~ : ~: ::::
 . .. ,., ,, , ,,',". ..... ... ... ... ... ... ...-. .. ..,. ... ......: + + + : + :
 ~;.:.: : @:. X...:.... ..:........: ... ..:....:... .:.. .: ..: ... ... ........'


Figure 5.27a: Exhaustive Search Results
Shadow Area: 14
Robot 1 Position: (49, 20)
Robot 2 Position: (3, 40)
Total Time: 4.27 hours


Exhaustive Search Technique


Figure 5.27b: Genetic Algorithm Results
 Shadow Area: 26
 Robot 1 Position: (0, 58)
 Robot 2 Position: (45, 35)
 Total Time: 7 seconds


Genetic Algorithm Technique


10000


0 1000 2000 3000 4000 5000 6000 0 1 2 3 4 5 6 7


Time (sec)


Time (sec)


Figure 5.27c: Exhaustive search
convergence rate


 Figure 5.27d: Genetic algorithm
Figure 5.27: Results for Comparison #1 Figure 5.27d: Genetic algorithm
 convergence rate


-


. .. .. ... .. ......,',,.... .. .. .....,


. .... . . . .,. .