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Both are created by the author of Dr. Slump and Dragon Ball, Akira Toriyama. They both have met before when Goku was in the search of Dragon Balls during the Red Ribbon Arc until he and General Blue were on Penguin Village, where Arale and her friends live. Now she made some appearances in Dragon Ball Super where she was shown when Goku has trouble with the disorder as well as the latest episode when she is fighting the Saiyans after the Future Trunks Arc.
To recap, it is a battle of 4-C. Goku from the Namek/Frieza Arc before going Super Saiyan against Arale without Doc's Tech Copy Machine. Speed is equalized. No battlefield removal. First round is without prep time (otherwise, they both forgot who they are despite meeting each other before since Dragon Ball, until a feeling of deja vu when Arale sent Vegeta flying with a headbutt). 2nd round with prep time. Who will win? A pure-hearted Saiyan raised on Earth or a robot built by Senbei Norimaki?