{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,22]],"date-time":"2026-07-22T02:53:40Z","timestamp":1784688820135,"version":"3.55.0"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"22","license":[{"start":{"date-parts":[[2022,6,25]],"date-time":"2022-06-25T00:00:00Z","timestamp":1656115200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,6,25]],"date-time":"2022-06-25T00:00:00Z","timestamp":1656115200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1936108"],"award-info":[{"award-number":["U1936108"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1836204"],"award-info":[{"award-number":["U1836204"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1401258"],"award-info":[{"award-number":["U1401258"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61572222"],"award-info":[{"award-number":["61572222"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Soft Comput"],"published-print":{"date-parts":[[2022,11]]},"DOI":"10.1007\/s00500-022-07224-3","type":"journal-article","created":{"date-parts":[[2022,6,25]],"date-time":"2022-06-25T20:02:35Z","timestamp":1656187355000},"page":"12599-12610","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":66,"title":["Trajectory planning for UAV navigation in dynamic environments with matrix alignment Dijkstra"],"prefix":"10.1007","volume":"26","author":[{"given":"Jinyang","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1846-4941","authenticated-orcid":false,"given":"Yuhua","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruixuan","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kejing","family":"Chu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,6,25]]},"reference":[{"key":"7224_CR1","unstructured":"Bazan M, et al (2016) Multithreaded enhancements of the Dijkstra algorithm for route optimization in urban networks. Arch Transp Syst Telemat 9"},{"issue":"10","key":"7224_CR2","doi-asserted-by":"publisher","first-page":"3661","DOI":"10.3390\/app10103661","volume":"10","author":"X Chen","year":"2020","unstructured":"Chen X, Tang J, Lao S (2020) Review of unmanned aerial vehicle swarm communication architectures and routing protocols. Appl Sci 10(10):3661","journal-title":"Appl Sci"},{"issue":"11","key":"7224_CR3","doi-asserted-by":"publisher","first-page":"2169","DOI":"10.3390\/app8112169","volume":"8","author":"J Cui","year":"2018","unstructured":"Cui J et al (2018) UAV motion strategies in uncertain dynamic environments: a path planning method based on Q-learning strategy. Appl Sci 8(11):2169","journal-title":"Appl Sci"},{"key":"7224_CR4","doi-asserted-by":"publisher","first-page":"533","DOI":"10.1613\/jair.2994","volume":"39","author":"K Daniel","year":"2010","unstructured":"Daniel K et al (2010) Theta*: any-angle path planning on grids. J Artif Intell Res 39:533\u2013579","journal-title":"J Artif Intell Res"},{"issue":"1","key":"7224_CR5","first-page":"1","volume":"14","author":"SK Debnath","year":"2019","unstructured":"Debnath SK, Omar R, Latip NBA (2019) Comparison of different configuration space representations for path planning under combinatorial method. Indones J Electr Eng Comput Sci 14(1):1\u20138","journal-title":"Indones J Electr Eng Comput Sci"},{"key":"7224_CR6","doi-asserted-by":"publisher","first-page":"2800","DOI":"10.1007\/s10489-020-01650-2","volume":"50","author":"F Ge","year":"2020","unstructured":"Ge F et al (2020) Path planning of UAV for oilfield inspections in a three-dimensional dynamic environment with moving obstacles based on an improved pigeon-inspired optimization algorithm. Appl Intell 50:2800","journal-title":"Appl Intell"},{"issue":"10","key":"7224_CR7","doi-asserted-by":"publisher","first-page":"3355","DOI":"10.3390\/app10103355","volume":"10","author":"P Gia Luan","year":"2020","unstructured":"Gia Luan P (2020) Real-time hybrid navigation system-based path planning and obstacle avoidance for mobile robots. Appl Sci 10(10):3355","journal-title":"Appl Sci"},{"issue":"4","key":"7224_CR8","doi-asserted-by":"publisher","first-page":"1135","DOI":"10.1109\/TITS.2015.2498841","volume":"17","author":"D Gonz\u00e1lez et al","year":"2015","unstructured":"Gonz\u00e1lez et al D (2015) A review of motion planning techniques for automated vehicles. IEEE Trans Intell Transp Syst 17(4):1135\u20131145","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"7224_CR9","unstructured":"Jasika N et al (2012) Dijkstra\u2019s shortest path algorithm serial and parallel execution performance analysis. In: 2012 proceedings of the 35th international convention MIPRO. IEEE"},{"issue":"2","key":"7224_CR10","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1080\/10447318.2017.1331535","volume":"34","author":"K Jeong","year":"2018","unstructured":"Jeong K, Lee J, Kim J (2018) A study on new virtual reality system in maze terrain. Int J Hum Comput Interact 34(2):129\u2013145","journal-title":"Int J Hum Comput Interact"},{"issue":"1","key":"7224_CR11","doi-asserted-by":"publisher","first-page":"221","DOI":"10.1109\/TPAMI.2012.59","volume":"35","author":"S Ji","year":"2012","unstructured":"Ji S, Xu W, Yang M et al (2012) 3D convolutional neural networks for human action recognition. IEEE Trans Pattern Anal Mach Intell 35(1):221\u2013231","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"issue":"3","key":"7224_CR12","doi-asserted-by":"publisher","first-page":"385","DOI":"10.1145\/321765.321768","volume":"20","author":"B Johnson, Donald","year":"1973","unstructured":"Johnson, Donald B (1973) A note on Dijkstra\u2019s shortest path algorithm. J ACM 20(3):385\u2013388","journal-title":"J ACM"},{"key":"7224_CR13","unstructured":"Knoll A (2006) A survey of octree volume rendering methods. GI, the Gesellschaft f\u00fcr Informatik. 87"},{"key":"7224_CR14","doi-asserted-by":"crossref","unstructured":"Liu C et al (2019) An improved A-star algorithm considering water current, traffic separation and berthing for vessel path planning. Appl Sci 9(6):1057","DOI":"10.3390\/app9061057"},{"issue":"6","key":"7224_CR15","doi-asserted-by":"publisher","first-page":"1057","DOI":"10.3390\/app9061057","volume":"9","author":"C Liu","year":"2019","unstructured":"Liu C, Mao Q, Chu X et al (2019) An improved A-star algorithm considering water current, traffic separation and berthing for vessel path planning. Appl Sci 9(6):1057","journal-title":"Appl Sci"},{"issue":"5","key":"7224_CR16","doi-asserted-by":"publisher","first-page":"918","DOI":"10.1007\/s10766-015-0351-z","volume":"43","author":"H Ortega-Arranz","year":"2015","unstructured":"Ortega-Arranz H et al (2015) Comprehensive evaluation of a new GPU-based approach to the shortest path problem. Int J Parallel Prog 43(5):918\u2013938","journal-title":"Int J Parallel Prog"},{"key":"7224_CR17","doi-asserted-by":"publisher","DOI":"10.1007\/s10462-021-10099-9","author":"Q Pan","year":"2021","unstructured":"Pan Q, Tang J, Wang H et al (2021) SFSADE: an improved self-adaptive differential evolution algorithm with a shuffled frog-leaping strategy. Artif Intell Rev. https:\/\/doi.org\/10.1007\/s10462-021-10099-9","journal-title":"Artif Intell Rev"},{"key":"7224_CR18","doi-asserted-by":"crossref","unstructured":"Prabhu SGR, Peter K, Jodie W (2018) Investigating an A-star algorithm-based fitness function for mobile robot evolution. In: 2018 22nd international conference on system theory, control and computing (ICSTCC). IEEE","DOI":"10.1109\/ICSTCC.2018.8540734"},{"key":"7224_CR19","doi-asserted-by":"crossref","unstructured":"Przybylski M (2018) AD*-Cut: a search-tree cutting anytime dynamic A* algorithm. In: Twenty-Eighth international conference on automated planning and scheduling","DOI":"10.1609\/icaps.v28i1.13925"},{"issue":"6","key":"7224_CR20","doi-asserted-by":"publisher","first-page":"2201","DOI":"10.1007\/s10489-018-1384-y","volume":"49","author":"D Ram Kishan","year":"2019","unstructured":"Ram Kishan D, Shukla A, Wilfred Godfrey W (2019) Three dimensional path planning using Grey wolf optimizer for UAVs. Appl Intell 49(6):2201\u20132217","journal-title":"Appl Intell"},{"key":"7224_CR21","doi-asserted-by":"crossref","unstructured":"Ramirezatencia C et al (2017) Solving complex multi-UAV mission planning problems using multi-objective genetic algorithms. Soft Comput 21:4883\u20134900","DOI":"10.1007\/s00500-016-2376-7"},{"key":"7224_CR22","doi-asserted-by":"publisher","first-page":"2905","DOI":"10.1007\/s00500-015-1970-4","volume":"20","author":"H Savuran","year":"2016","unstructured":"Savuran H, Murat K (2016) Efficient route planning for an unmanned air vehicle deployed on a moving carrier. Soft Comput 20:2905\u20132920","journal-title":"Soft Comput"},{"key":"7224_CR23","doi-asserted-by":"crossref","unstructured":"Short A et al (2016) Recent progress on sampling based dynamic motion planning algorithms. In: 2016 IEEE International conference on advanced intelligent mechatronics (AIM). IEEE","DOI":"10.1109\/AIM.2016.7576950"},{"key":"7224_CR24","doi-asserted-by":"publisher","first-page":"2923","DOI":"10.1109\/TVCG.2019.2959321","volume":"27","author":"C Song","year":"2019","unstructured":"Song C et al (2019) Dynamic voronoi diagram for moving disks. Trans Vis Comput Graph 27:2923","journal-title":"Trans Vis Comput Graph"},{"issue":"2","key":"7224_CR25","doi-asserted-by":"publisher","first-page":"144","DOI":"10.1109\/TCIAIG.2012.2197681","volume":"4","author":"NR Sturtevant","year":"2012","unstructured":"Sturtevant NR (2012) Benchmarks for grid-based pathfinding. IEEE Trans Comput Intell AI Games 4(2):144\u2013148","journal-title":"IEEE Trans Comput Intell AI Games"},{"issue":"4","key":"7224_CR26","doi-asserted-by":"publisher","first-page":"1279","DOI":"10.1109\/JESTPE.2016.2581986","volume":"4","author":"OVG Swathika","year":"2016","unstructured":"Swathika OVG, Hemamalini S (2016) Prims-aided dijkstra algorithm for adaptive protection in microgrids. IEEE J Emerg Sel Top Power Electron 4(4):1279\u20131286","journal-title":"IEEE J Emerg Sel Top Power Electron"},{"key":"7224_CR27","doi-asserted-by":"publisher","DOI":"10.1109\/JSYST.2021.3101283","author":"J Tang","year":"2021","unstructured":"Tang J, Lao S, Wan Y (2021) Systematic review of collision-avoidance approaches for unmanned aerial vehicles. IEEE Syst J. https:\/\/doi.org\/10.1109\/JSYST.2021.3101283","journal-title":"IEEE Syst J"},{"issue":"4","key":"7224_CR28","doi-asserted-by":"publisher","first-page":"1381","DOI":"10.3390\/app10041381","volume":"10","author":"X Wang","year":"2020","unstructured":"Wang X et al (2020) Collision-free path planning method for robots based on an improved rapidly-exploring random tree algorithm. Appl Sci 10(4):1381","journal-title":"Appl Sci"},{"key":"7224_CR29","doi-asserted-by":"publisher","first-page":"5475","DOI":"10.1007\/s00500-016-2138-6","volume":"21","author":"P Yao","year":"2017","unstructured":"Yao P, Honglun W (2017) Dynamic adaptive ant lion optimizer applied to route planning for unmanned aerial vehicle. Soft Comput 21:5475\u20135488","journal-title":"Soft Comput"},{"key":"7224_CR30","doi-asserted-by":"crossref","unstructured":"You Y, Caixia C, Yan W (2019) 3D visibility graph based motion planning and control. In: International conference robotics and artificial intelligence","DOI":"10.1145\/3373724.3373735"},{"key":"7224_CR31","doi-asserted-by":"crossref","unstructured":"Zammit C, Erik-Jan Van K (2018) Comparison between A* and RRT algorithms for UAV path planning. In: 2018 AIAA guidance, navigation, and control conference","DOI":"10.2514\/6.2018-1846"},{"issue":"8","key":"7224_CR32","doi-asserted-by":"publisher","first-page":"2328","DOI":"10.1007\/s10489-017-1082-1","volume":"48","author":"Q Zhang","year":"2018","unstructured":"Zhang Q et al (2018) Modified collective decision optimization algorithm with application in trajectory planning of UAV. Appl Intell 48(8):2328\u20132354","journal-title":"Appl Intell"}],"container-title":["Soft Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-022-07224-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00500-022-07224-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-022-07224-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,30]],"date-time":"2022-09-30T06:37:47Z","timestamp":1664519867000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00500-022-07224-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,25]]},"references-count":32,"journal-issue":{"issue":"22","published-print":{"date-parts":[[2022,11]]}},"alternative-id":["7224"],"URL":"https:\/\/doi.org\/10.1007\/s00500-022-07224-3","relation":{},"ISSN":["1432-7643","1433-7479"],"issn-type":[{"value":"1432-7643","type":"print"},{"value":"1433-7479","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6,25]]},"assertion":[{"value":"23 May 2022","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 June 2022","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have not disclosed any competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}