Comparison of evolutionary algorithms for coordination of cooperative bioinspired multirobots

Abstract

This paper compares optimal path planning algorithms based on a Genetic Algorithm and a Particle Swarm Optimization algorithm applied to multiple bioinspired robots in a 2D environment simulation. The planning objectives are related to the harvesting of an apple plantation in which three swarm of butterflies were run, counting the fruits on the ground to optimize the harvest in a cooperative way. Robotic swarms must travel through points on the map to count the fruits. The time for each swarm was also counted for the comparison results.