Coevolution of the Asymmetric Morphology and the Behaviour of Simple Predator Agents in Predator-Prey Pursuit Problem

Table 2

The main parameters of the GA.

Parameter	Value
Genotype	Eight integer values of the velocities of wheels (V00L, V00R, V01L, V01R, V10L, V10R, V11L, and V11R) and an integer value of the angular offset (α) of the sensor
Population size	400 chromosomes
Selection	Binary tournament
Selection ratio	10%
Elite	Best 4 chromosomes
Crossover	Both single- and two-point
Mutation	Single-point (with even distribution)
Mutation ratio	5%
Fitness cases	10 initial situations
Duration of the fitness trial	120 s per initial situation
Fitness value	Sum of fitness values of each situation: (a) Successful situation: time needed to capture the prey; (b) Unsuccessful situation: 10,000 + the shortest distance between the prey and any predator during the trial
Termination criterion	No. of generations = 200 or stagnation of fitness for 32 consecutive generations