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

Table 4

Environment configuration.

	Parameter	Value
Scenario 1	Map size (pixel)	400300
	Start (pixel)	(10, 260)
	Goal (pixel)	(300, 90)
Scenario 2	Map size (pixel)	400300
	Start (pixel)	(100, 150)
	Goal (pixel)	(260, 100)