Representation

We seek to optimize the Navigation system with respect to its 10 parameters: Target Tracker ($\alpha$, $\beta$, $\kappa_{1}$, $\kappa_{2}$), Distance Estimator ($\kappa$), Risk Manager ($\gamma_{A}$, $\gamma_{B}$, $\gamma_{r}$), and Rescuer ( $\overline{I}_{a}$, $\overline{R}$). The Distance Estimator's parameters $\phi$ and $\delta$ are fixed to 0.7 and 2 respectively since they do not affect the efficiency of the system. We use a real valued chromosome, each chromosome being a vector of 10 dimensions (see Figure 5.9). The initial population is generated randomly.