Abstract: Optimal path planning is a key link for the sailing contest.This paper proposes an optimal path planning method for straightway sailing of real-time marine environment based on fuzzy comprehensive evaluation.It makes full use of a fuzzy comprehensive evaluation function to implement local optimal path planning.Watching environment parameters changing，it optimize the sections from the current position to goal over again and always get local optimal paths.Then it utilizes a width-first search method to find the global optimal path.Simulation results indicate the effectiveness and the applicability of the proposed method.

摘要： 最优行驶路径规划是帆船比赛取胜的关键环节。文章提出了赛场环境参数实时变化时，基于模糊综合评价的帆船直航比赛最优路径规划方法。该方法利用模糊综合评价思想，综合考虑行驶速度和接近目标两个因素建立综合评价函数进行航行方向决策，赛场环境参数变化时，从当前航行位置相对目标点重新进行路径规划，保证局部状态始终最优，利用宽度优先搜索算法实现全局最优路径搜索。仿真结果证明，该路径规划方法能够取得较好的规划结果，对指导帆船运动员进行科学训练有很好的理论意义和应用价值。