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

Table 5

Statistical measurements of the paths.

Methods	Performance	Scenario 1	Scenario 2
Proposed	Minimum clearance (m)	10.630 (О)	10.440 (О)
	Smoothness (rad)	2.238	2.294
lite	Minimum clearance (m)	0 (✕)	1 (✕)
	Smoothness (rad)	54.978	5.816
Hybrid	Minimum clearance (m)	4.243 (✕)	0 (✕)
	Smoothness (rad)	10.119	2.356
	Minimum clearance (m)	1.000 (✕)	3.000 (✕)
	Smoothness (rad)	5.727	6.064

Note. Safety distance is set as 10 m. О is shown if the safety requirement is satisfied.