Systems and methods for generating routes for watercraft

Example systems and methods are provided herein for generating paths for watercraft. Such systems include a memory and a processor, and the processor is configured to determine a set of condition parameters that each correspond to desired conditions for a potential navigation path, select at least one condition parameter from the set of condition parameters, and then determine and apply a constraint relaxation to the selected condition parameter(s) to form constraint relaxed condition parameter(s), each of which increases a range of input values that satisfy the corresponding desired conditions for the potential navigation path. The processor is also configured to determine a region based on an updated set of condition parameters, including the constraint relaxed condition parameter, and then to determine a navigation path within the region.