Dynamic obstacle avoidance path planning method for unmanned ship assisted by unmanned aerial vehicle

The invention discloses a dynamic obstacle avoidance path planning method for an unmanned ship assisted by an unmanned aerial vehicle, and the method comprises the steps: enabling target dynamic obstacles recognized by the unmanned aerial vehicle to form a TSP loop, solving a TSP problem through employing an improved genetic algorithm, enabling the target dynamic obstacles to form a closed-loop path, integrating a collision-free safety region of the obstacles and a river protection annular region, and carrying out the planning of a dynamic obstacle avoidance path. The method comprises the following steps: obtaining a safe navigation point set in a dynamic obstacle environment, connecting corresponding point sets to form a road network set without collision with obstacles, and when an unmanned ship navigates in a dynamic obstacle area, giving a starting point and an end point, adding the obtained road network set, and carrying out optimal route calculation through an optimization algorithm to obtain a planned