Path Planning For Unmanned Surface Vehicles Based On Modified Artificial Fish Swarm Algorithm With Local Optimizer

Algorithm 1

Modified artificial fish swarm algorithm.

(1)	Require: : the population of the AFs
(2)	: the position state of AF
(3)	: the maximum range in which AF can search
(4)	: the maximum range AF can move
(5)	Initialize the artificial fish population:
(6)	Initialize the state of each AF:
(7)	while the path is not found do
(8)	for each AF do
(9)	flag = stateEvaluation()
(10)	case flag = prey:
(11)
(12)	case flag = follow:
(13)
(14)	case flag = Swarm:
(15)
(16)	case flag = random:
(17)
(18)	end for
(19)	Update the state of each AF
(20)	Update and
(21)	end while
(22)	route = selectBestRoute ()
(23)	Output: route