[Retracted] Research on Path Planning Method of Unmanned Boat Based on Improved DWA Algorithm

Table 1

Fuzzy rule for weight α.

Distance	Obstacle distance
	ZO	PS	PM	PB	PH
ZO	PM	PB	PB	PH	pH
PS	PS	PM	PB	PB	PH
PM	ZO	PS	PM	PB	PB
PB	ZO	ZO	PS	PM	PB
PH	ZO	ZO	ZO	PS	PM