A method for planning a local path of a water surface unmanned ship

The invention discloses a method for planning a local path of a water surface unmanned ship. The method comprises the following steps: acquiring water surface image data of an unmanned ship operationenvironment and marking the water surface image data; Training an image semantic segmentation model and an ACF detector, and enabling the model to converge and store model parameters through continuous iteration; Performing pixel-level classification on the water surface image by using an image semantic segmentation model to obtain a water surface boundary line; Extracting an area where a water surface obstacle exists, and identifying the water surface obstacle by adopting an aggregation channel characteristic algorithm; Projecting the phase plane where the water surface image is located to the driving horizontal plane of the unmanned ship, estimating the water surface boundary line and the actual direction and distance of a water surface obstacle, and constructing an obstacle avoidance environment model of the un