Comparison #2 This map contains more obstacles than the previous example. The increase in the number of obstacles increased the processing time for the exhaustive search technique. The increase in the number of obstacles increases the number of calculations that must be performed throughout the search space. The results are shown in figure 5.28. The genetic algorithm ran for 100 generations and then selects the best solution from each generation. After the algorithm has cycled through all 100 generations the final solution is reported to be the best of the final generation. Figure 5.28a: Exhaustive Search Results Shadow Area: 3 Robot 1 Position: (62, 5) Robot 2 Position: (12, 63) Total Time: 174 hours Figure 5.28b: Genetic Algorithm Results Shadow Area: 85 Robot 1 Position: (55, 49) Robot 2 Position: (9, 28) Tnfr l Tio" '7 cr-nn .. .. I--I llli111. / a e: s UIc Figure 5.28: Results for Comparison #2 There is a definite difference in the solution for the shadow areas. The genetic algorithm does not obtain the optimal solution, however it obtains a solution in far less time. It should also be noted that the size of the map for the exhaustive search technique LUs ---------------------------------------- ...................................... ----- --------------- ............................ ------------------ ........ ---------------- .0 .................................... ........................... ..................................................... ................................................................ ..................................................................... ............................................ .... . . . .. . . . . . . . . . . . ......................... .......................... .......................... . . . . . . . ......... . . . ....... ........................ .................................. mm l xl .................................. ................... ........... ................ ... ................................................................... . . ......... . . . . ............................................................ ............................................................. ........................................... .................................................... ...... .......................................................... ............................................................. .............. a ... .................................. am ------------- 1 ... .. ..............