Multi-Objective vs. Single-Objective Evolutionary Algorithms for hybrid mobile robot optimization

In this paper, the comparison of Multi-Objective Evolutionary Algorithm (MOEA) and Single-Objective Evolutionary Algorithm (SOEA) in designing and optimizing the morphology of a Six Articulated-Wheeled Robot (SAWR) is presented. Results show that both methods are able to produce optimized SAWR which have smaller size with the capability to perform climbing motion. However, one of the solutions from the Pareto-set of MOEA is outperforming the fittest solution from SOEA. The solution is able to achieve the same performance of the fittest solution from SOEA and yet it is smaller in size. Besides that, another advantage of using MOEA is that MOEA is capable to produce a set of Pareto optimal solutions from the smallest SAWR with poor performance to the largest SAWR with robust performance which provide users a choice of solutions for trade-off between the two objectives.