船舶多AUV，粒子群算法，最优寻迹程序，最优个体适应度原理用于船舶-Particle swarm optimization algorithm

建立的小车运动学模型、转向舵机、驱动电机模型、目标轨迹计算模型、控制算法能实现基本寻迹功能。(The established kinematics model, steering servo, drive motor model, target trajectory calculation model, and control algorithm can achieve the basic tracking function.)