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

Figure 9

Qizhen lake: N = 30.301956°, S = 30.299381°, W = 120.086141°, E = 120.088866°. (a) Satellite map; (b) concept map (the map size is precisely calculated by google map: height = 286 m, width = 261.9 m).

(a)

(b)