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

Table 2

Fuzzy rule for weight β.

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