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

Table 7

Quantitative results of simulation.

Methods	Performance	Metrics
Proposed	Minimum clearance (m)	10.198 (О)
	Smoothness (rad)	2.547
Hybrid	Minimum clearance (m)	2.236 (✕)
	Smoothness (rad)	5.687
lite	Minimum clearance (m)	0 (✕)
	Smoothness (rad)	60.4757

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