Genetic Algorithm Applied to Robotic Squad Coordination

摘要

The main goal of this paper is to describe the modeling, implementation and evaluation of the Genetic Algorithm's (GA) efficiency when applied to robotic group formation and coordination. The robotic task in this paper is performed over a natural disaster, simulated as a forest fire. The robot squad mission is to surround the fire and avoid fire's propagation. Experiments have been made with different chromosome models and several parameter's variation. This paper describes all performed experiments detailing all sets of parameters, including positive and negative results. The simulation's results showed that with an adequate set of parameters is possible to get satisfactory strategic positions for a multi-robotic system's operation; furthermore, this GA solution can be applied on similar activities.