IJEART

Local path optimization is an important guarantee for unmanned ships to maintain navigation safety at all times. The traditional firefly algorithm is slows convergence or drops into local optimum easily near obstacles for local path planning. And on this basic, a local path planning method for unmanned ship in clutter environment based on improved firefly algorithm was proposed in this paper. Based on the relationship between fireflies’ distance and attractiveness, the initial range of fireflies is limited, and the position update formula is improved in this method. The simulation results show that the length of the local path is shorted effectively, the convergence speed is improved and local optimum can be avoided baesd the method. Therefore, the proposed method is reflected the good environmental adaptability and good path planning performance. It can provide new theoretical basis for the research of local path planning of unmanned ship.