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

Table 2

Environment settings of each scenario.

	Map size	Start	Goal
Scenario 1 (complex map)	1010	(1, 1)	(10, 10)
Scenario 2 (complex map)	1010	(1, 1)	(10, 10)
Scenario 3 (complex map)	2020	(1, 1)	(20, 20)
Scenario 4 (complex map)	2020	(1, 1)	(20, 20)
Scenario 5 (open water)	400400	(175, 300)	(150, 80)
Scenario 6 (open water)	400400	(40, 340)	(300, 240)
Scenario 7 (open water)	400400	(285, 340)	(390, 50)
Scenario 8 (open water)	400400	(70, 350)	(260, 250)