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

Table 6

Environment settings.

	Value
Map size (pixels)	261.9 (width)286 (height)
Start (earth frame)	(120.086671°E, 30.299859°N)
Goal (earth frame)	(120.088227°E, 30.301374°N)
Start (local frame)	(60 m, 60 m)
Goal (local frame)	(210 m, 220 m)
Currents	0.2 m/s, 20°