{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,21]],"date-time":"2026-07-21T04:38:20Z","timestamp":1784608700476,"version":"3.55.0"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"17","license":[{"start":{"date-parts":[[2024,8,5]],"date-time":"2024-08-05T00:00:00Z","timestamp":1722816000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,8,5]],"date-time":"2024-08-05T00:00:00Z","timestamp":1722816000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"Guangxi Science and Technology Program","award":["2023GXNSFBA026019"],"award-info":[{"award-number":["2023GXNSFBA026019"]}]},{"name":"Research Project for Young and Middle-Aged Teachers in Higher Education Institution of Guangxi","award":["2022KY0164"],"award-info":[{"award-number":["2022KY0164"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Supercomput"],"published-print":{"date-parts":[[2024,11]]},"DOI":"10.1007\/s11227-024-06365-6","type":"journal-article","created":{"date-parts":[[2024,8,5]],"date-time":"2024-08-05T13:03:46Z","timestamp":1722863026000},"page":"24938-24974","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Two-stage control model based on enhanced elephant clan optimization for path planning of unmanned combat aerial vehicle"],"prefix":"10.1007","volume":"80","author":[{"given":"Liangdong","family":"Qu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yingjuan","family":"Jia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoqin","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingkun","family":"Fan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,8,5]]},"reference":[{"issue":"2","key":"6365_CR1","doi-asserted-by":"publisher","first-page":"171","DOI":"10.3390\/math9020171","volume":"9","author":"Haoran Zhu","year":"2021","unstructured":"Zhu Haoran, Wang Yunhe, Ma Zhiqiang, Li Xiangtao (2021) A comparative study of swarm intelligence algorithms for ucav path-planning problems. Mathematics 9(2):171","journal-title":"Mathematics"},{"key":"6365_CR2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2023.104532","volume":"170","author":"Yunes Alqudsi","year":"2023","unstructured":"Alqudsi Yunes, Makaraci Murat, Kassem Ayman, El-Bayoumi Gamal (2023) A numerically-stable trajectory generation and optimization algorithm for autonomous quadrotor UAVs. Robot Auton Syst 170:104532","journal-title":"Robot Auton Syst"},{"issue":"1","key":"6365_CR3","first-page":"29","volume":"237","author":"YS Alqudsi","year":"2023","unstructured":"Alqudsi YS, Kassem AH, El-Bayoumi G (2023) A general real-time optimization framework for polynomial-based trajectory planning of autonomous flying robots. Proceedings of the institution of mechanical engineers. J Aerosp Eng 237(1):29\u201341","journal-title":"J Aerosp Eng"},{"key":"6365_CR4","doi-asserted-by":"publisher","first-page":"39729","DOI":"10.1109\/ACCESS.2022.3166632","volume":"10","author":"Rafal Szczepanski","year":"2022","unstructured":"Szczepanski Rafal, Tarczewski Tomasz, Erwinski Krystian (2022) Energy efficient local path planning algorithm based on predictive artificial potential field. IEEE Access 10:39729\u201339742","journal-title":"IEEE Access"},{"key":"6365_CR5","doi-asserted-by":"publisher","first-page":"900","DOI":"10.1109\/ACCESS.2019.2958876","volume":"8","author":"Chengren Yuan","year":"2020","unstructured":"Yuan Chengren, Zhang Wenqun, Liu Guifeng, Pan Xinglong, Liu Xiaohu (2020) A heuristic rapidly-exploring random trees method for manipulator motion planning. IEEE Access 8:900\u2013910","journal-title":"IEEE Access"},{"key":"6365_CR6","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.108709","volume":"223","author":"Hongqiang Sang","year":"2021","unstructured":"Sang Hongqiang, You Yusong, Sun Xiujun, Zhou Ying, Liu Fen (2021) The hybrid path planning algorithm based on improved a* and artificial potential field for unmanned surface vehicle formations. Ocean Eng 223:108709","journal-title":"Ocean Eng"},{"issue":"11","key":"6365_CR7","doi-asserted-by":"publisher","first-page":"3265","DOI":"10.3390\/s20113265","volume":"20","author":"Gerardo Diaz-Arango","year":"2020","unstructured":"Diaz-Arango Gerardo, Vazquez-Leal Hector, Hernandez-Martinez Luis, Jimenez-Fernandez Victor Manuel, Heredia-Jimenez Aurelio, Ambrosio Roberto C, Huerta-Chua Jesus, De Cos-Cholula Hector, Hernandez-Mendez Sergio (2020) Multiple-target homotopic quasi-complete path planning method for mobile robot using a piecewise linear approach. Sensors 20(11):3265","journal-title":"Sensors"},{"issue":"7","key":"6365_CR8","doi-asserted-by":"publisher","first-page":"427","DOI":"10.3390\/drones7070427","volume":"7","author":"Shahin Darvishpoor","year":"2023","unstructured":"Darvishpoor Shahin, Darvishpour Amirsalar, Escarcega Mario, Hassanalian Mostafa (2023) Nature-inspired algorithms from oceans to space: a comprehensive review of heuristic and meta-heuristic optimization algorithms and their potential applications in drones. Drones 7(7):427","journal-title":"Drones"},{"key":"6365_CR9","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2021.107287","volume":"121","author":"Xuzhao Chai","year":"2022","unstructured":"Chai Xuzhao, Zheng Zhishuai, Xiao Junming, Yan Li, Boyang Qu, Wen Pengwei, Wang Haoyu, Zhou You, Sun Hang (2022) Multi-strategy fusion differential evolution algorithm for UAV path planning in complex environment. Aerosp Sci Technol 121:107287","journal-title":"Aerosp Sci Technol"},{"key":"6365_CR10","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2020.105530","volume":"194","author":"Qu Chengzhi","year":"2020","unstructured":"Chengzhi Qu, Gai Wendong, Zhang Jing, Zhong Maiying (2020) A novel hybrid grey wolf optimizer algorithm for unmanned aerial vehicle (UAV) path planning. Knowl-Based Syst 194:105530","journal-title":"Knowl-Based Syst"},{"issue":"9","key":"6365_CR11","doi-asserted-by":"publisher","first-page":"3037","DOI":"10.3390\/s21093037","volume":"21","author":"Lisu Huo","year":"2021","unstructured":"Huo Lisu, Zhu Jianghan, Li Zhimeng, Ma Manhao (2021) A hybrid differential symbiotic organisms search algorithm for UAV path planning. Sensors 21(9):3037","journal-title":"Sensors"},{"issue":"5","key":"6365_CR12","doi-asserted-by":"publisher","first-page":"134","DOI":"10.3390\/drones6050134","volume":"6","author":"Xing Wang","year":"2022","unstructured":"Wang Xing, Pan Jeng-Shyang, Yang Qingyong, Kong Lingping, Sn\u00e1\u0161el V\u00e1clav, Chu Shu-Chuan (2022) Modified mayfly algorithm for UAV path planning. Drones 6(5):134","journal-title":"Drones"},{"key":"6365_CR13","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2020.106209","volume":"204","author":"Yu Xiaobing","year":"2020","unstructured":"Xiaobing Yu, Li Chenliang, Zhou JiaFang (2020) A constrained differential evolution algorithm to solve UAV path planning in disaster scenarios. Knowl-Based Syst 204:106209","journal-title":"Knowl-Based Syst"},{"key":"6365_CR14","doi-asserted-by":"publisher","first-page":"57033","DOI":"10.1109\/ACCESS.2021.3072796","volume":"9","author":"Xu Honggen","year":"2021","unstructured":"Honggen Xu, Jiang Shuai, Zhang Aizhu (2021) Path planning for unmanned aerial vehicle using a mix-strategy-based gravitational search algorithm. IEEE Access 9:57033\u201357045","journal-title":"IEEE Access"},{"issue":"3","key":"6365_CR15","doi-asserted-by":"publisher","first-page":"2495","DOI":"10.1007\/s10586-021-03276-6","volume":"24","author":"Vahid Jamshidi","year":"2021","unstructured":"Jamshidi Vahid, Nekoukar Vahab, Refan Mohammad Hossein (2021) Real time uav path planning by parallel grey wolf optimization with align coefficient on can bus. Clust Comput 24(3):2495\u20132509","journal-title":"Clust Comput"},{"key":"6365_CR16","doi-asserted-by":"publisher","first-page":"20100","DOI":"10.1109\/ACCESS.2021.3054179","volume":"9","author":"Xianjin Zhou","year":"2021","unstructured":"Zhou Xianjin, Gao Fei, Fang Xi, Lan Zehong (2021) Improved bat algorithm for uav path planning in three-dimensional space. IEEE Access 9:20100\u201320116","journal-title":"IEEE Access"},{"key":"6365_CR17","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107376","volume":"107","author":"Manh Duong Phung and Quang Phuc Ha","year":"2021","unstructured":"Manh Duong Phung and Quang Phuc Ha (2021) Safety-enhanced uav path planning with spherical vector-based particle swarm optimization. Appl Soft Comput 107:107376","journal-title":"Appl Soft Comput"},{"key":"6365_CR18","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2022.108713","volume":"246","author":"Haoran Zhu","year":"2022","unstructured":"Zhu Haoran, Wang Yunhe, Li Xiangtao (2022) Ucav path planning for avoiding obstacles using cooperative co-evolution spider monkey optimization. Knowl-Based Syst 246:108713","journal-title":"Knowl-Based Syst"},{"key":"6365_CR19","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2022.119499","volume":"217","author":"Yanbiao Niu","year":"2023","unstructured":"Niu Yanbiao, Yan Xuefeng, Wang Yongzhen, Niu Yanzhao (2023) Three-dimensional ucav path planning using a novel modified artificial ecosystem optimizer. Expert Syst Appl 217:119499","journal-title":"Expert Syst Appl"},{"issue":"1","key":"6365_CR20","first-page":"56","volume":"35","author":"Selcuk Aslan","year":"2023","unstructured":"Aslan Selcuk, Erkin Tevfik (2023) An immune plasma algorithm based approach for ucav path planning. J King Saud Univ Comput Inf Sci 35(1):56\u201369","journal-title":"J King Saud Univ Comput Inf Sci"},{"issue":"9","key":"6365_CR21","first-page":"2626","volume":"36","author":"ZOU Jie","year":"2016","unstructured":"Jie ZOU, Wei WU (2016) Route planning method for unmanned aerial vehicle based on improved teaching-learning algorithm. J Comput Appl 36(9):2626\u20132630","journal-title":"J Comput Appl"},{"issue":"10","key":"6365_CR22","doi-asserted-by":"publisher","first-page":"2712","DOI":"10.1007\/s11431-012-4890-x","volume":"55","author":"Pei Li","year":"2012","unstructured":"Li Pei, Duan HaiBin (2012) Path planning of unmanned aerial vehicle based on improved gravitational search algorithm. Sci China Technol Sci 55(10):2712\u20132719","journal-title":"Sci China Technol Sci"},{"key":"6365_CR23","first-page":"806","volume":"33","author":"Tianquan Ni","year":"2011","unstructured":"Ni Tianquan, Wang Jiangdong, Li Yian (2011) Application of particle swarm algorithm in route planning of uav. Syst Eng Electron 33:806\u2013810","journal-title":"Syst Eng Electron"},{"issue":"1","key":"6365_CR24","volume":"2014","author":"Bai Li","year":"2014","unstructured":"Li Bai, Gong Li-gang, Yang Wen-lun (2014) An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning. Sci World J 2014(1):232704","journal-title":"Sci World J"},{"key":"6365_CR25","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107892","volume":"113","author":"Malihe Jafari","year":"2021","unstructured":"Jafari Malihe, Salajegheh Eysa, Salajegheh Javad (2021) Elephant clan optimization: a nature-inspired metaheuristic algorithm for the optimal design of structures. Appl Soft Comput 113:107892","journal-title":"Appl Soft Comput"},{"key":"6365_CR26","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.117806","volume":"303","author":"Jingkun Fan","year":"2024","unstructured":"Fan Jingkun, Liangdong Qu (2024) Innovative differential evolution algorithm with double-layer coding for autonomous underwater vehicles path planning in complex environments. Ocean Eng 303:117806","journal-title":"Ocean Eng"},{"issue":"1","key":"6365_CR27","volume":"2012","author":"Gaige Wang","year":"2012","unstructured":"Wang Gaige, Guo Lihong, Duan Hong, Liu Luo, Wang Heqi (2012) A bat algorithm with mutation for ucav path planning. Sci World J 2012(1):418946","journal-title":"Sci World J"},{"issue":"14","key":"6365_CR28","doi-asserted-by":"publisher","first-page":"5232","DOI":"10.3390\/s22145232","volume":"22","author":"Ran Zhang","year":"2022","unstructured":"Zhang Ran, Li Sen, Ding Yuanming, Qin Xutong, Xia Qingyu (2022) Uav path planning algorithm based on improved harris hawks optimization. Sensors 22(14):5232","journal-title":"Sensors"},{"key":"6365_CR29","doi-asserted-by":"crossref","unstructured":"Tizhoosh HR (2005) Opposition-based learning: a new scheme for machine intelligence. In: International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce (CIMCA-IAWTIC\u201906), 1695\u2013701","DOI":"10.1109\/CIMCA.2005.1631345"},{"key":"6365_CR30","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2021.115481","volume":"184","author":"Diego Oliva","year":"2021","unstructured":"Oliva Diego, Esquivel-Torres Sara, Hinojosa Salvador, P\u00e9rez-Cisneros Marco, Osuna-Enciso Valent\u00edn, Ortega-S\u00e1nchez No\u00e9, Dhiman Gaurav, Heidari Ali Asghar (2021) Opposition-based moth swarm algorithm. Expert Syst Appl 184:115481","journal-title":"Expert Syst Appl"},{"key":"6365_CR31","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2020.103731","volume":"94","author":"EH Houssein","year":"2020","unstructured":"Houssein EH, Saad MR, Hashim FA, Shaban H, Hassaballah M (2020) L\u00e9vy, flight distribution: a new metaheuristic algorithm for solving engineering optimization problems. Eng Appl Artif Intell 94:103731","journal-title":"Eng Appl Artif Intell"},{"key":"6365_CR32","doi-asserted-by":"publisher","first-page":"376","DOI":"10.1016\/j.matcom.2022.08.017","volume":"204","author":"Quanqin He","year":"2023","unstructured":"He Quanqin, Liu Hao, Ding Guiyan, Liangping Tu (2023) A modified l\u00e9vy flight distribution for solving high-dimensional numerical optimization problems. Math Comput Simul 204:376\u2013400","journal-title":"Math Comput Simul"},{"issue":"1","key":"6365_CR33","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1080\/21642583.2019.1708830","volume":"8","author":"Jiankai Xue","year":"2020","unstructured":"Xue Jiankai, Shen Bo (2020) A novel swarm intelligence optimization approach: sparrow search algorithm. Syst Sci Control Eng 8(1):22\u201334","journal-title":"Syst Sci Control Eng"},{"key":"6365_CR34","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1016\/j.advengsoft.2013.12.007","volume":"69","author":"Seyedali Mirjalili","year":"2014","unstructured":"Mirjalili Seyedali, Mirjalili Seyed Mohammad, Lewis Andrew (2014) Grey wolf optimizer. Adv Eng Softw 69:46\u201361","journal-title":"Adv Eng Softw"},{"issue":"4","key":"6365_CR35","doi-asserted-by":"publisher","first-page":"341","DOI":"10.1023\/A:1008202821328","volume":"11","author":"Rainer Storn","year":"1997","unstructured":"Storn Rainer, Price Kenneth (1997) Differential evolution - a simple and efficient heuristic for global optimization over continuous spaces. J Global Optim 11(4):341\u2013359","journal-title":"J Global Optim"},{"key":"6365_CR36","doi-asserted-by":"crossref","unstructured":"Xin-She Yang , Suash Deb (2009) Cuckoo search via l\u00e9vy flights. In 2009 World Congress on Nature & Biologically Inspired Computing (NaBIC), 210\u2013214","DOI":"10.1109\/NABIC.2009.5393690"},{"issue":"8","key":"6365_CR37","doi-asserted-by":"publisher","first-page":"535","DOI":"10.1016\/j.ast.2010.04.008","volume":"14","author":"Xu Chunfang","year":"2010","unstructured":"Chunfang Xu, Duan Haibin, Liu Fang (2010) Chaotic artificial bee colony approach to uninhabited combat air vehicle (ucav) path planning. Aerosp Sci Technol 14(8):535\u2013541","journal-title":"Aerosp Sci Technol"},{"key":"6365_CR38","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1016\/j.advengsoft.2016.05.015","volume":"99","author":"Sen Zhang","year":"2016","unstructured":"Zhang Sen, Zhou Yongquan, Li Zhiming, Pan Wei (2016) Grey wolf optimizer for unmanned combat aerial vehicle path planning. Adv Eng Softw 99:121\u2013136","journal-title":"Adv Eng Softw"},{"issue":"11","key":"6365_CR39","doi-asserted-by":"publisher","first-page":"6444","DOI":"10.1109\/TGRS.2016.2585184","volume":"54","author":"Zhichao Sun","year":"2016","unstructured":"Sun Zhichao, Junjie Wu, Yang Jianyu, Huang Yulin, Li Caipin, Li Dongtao (2016) Path planning for geo-uav bistatic sar using constrained adaptive multiobjective differential evolution. IEEE Trans Geosci Remote Sens 54(11):6444\u20136457","journal-title":"IEEE Trans Geosci Remote Sens"},{"issue":"1","key":"6365_CR40","doi-asserted-by":"publisher","first-page":"86","DOI":"10.1214\/aoms\/1177731944","volume":"11","author":"Milton Friedman","year":"1940","unstructured":"Friedman Milton (1940) A comparison of alternative tests of significance for the problem of m rankings. Ann Math Stat 11(1):86\u201392","journal-title":"Ann Math Stat"},{"key":"6365_CR41","first-page":"1","volume":"7","author":"Janez Dem\u0161ar","year":"2006","unstructured":"Dem\u0161ar Janez (2006) Statistical comparisons of classifiers over multiple data sets. J Mach Learn Res 7:1\u201330","journal-title":"J Mach Learn Res"}],"container-title":["The Journal of Supercomputing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11227-024-06365-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11227-024-06365-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11227-024-06365-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,5]],"date-time":"2024-09-05T15:29:52Z","timestamp":1725550192000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11227-024-06365-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8,5]]},"references-count":41,"journal-issue":{"issue":"17","published-print":{"date-parts":[[2024,11]]}},"alternative-id":["6365"],"URL":"https:\/\/doi.org\/10.1007\/s11227-024-06365-6","relation":{},"ISSN":["0920-8542","1573-0484"],"issn-type":[{"value":"0920-8542","type":"print"},{"value":"1573-0484","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,8,5]]},"assertion":[{"value":"14 July 2024","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 August 2024","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"All the authors declare that they have no conflict of interest in this paper.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}]}}