{"id":"https://openalex.org/W4416957538","doi":"https://doi.org/10.1007/s44196-025-01075-0","title":"An Improved Crested Porcupine Algorithm for Path Planning of Underwater Robot Fish","display_name":"An Improved Crested Porcupine Algorithm for Path Planning of Underwater Robot Fish","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W4416957538","doi":"https://doi.org/10.1007/s44196-025-01075-0"},"language":"en","primary_location":{"id":"doi:10.1007/s44196-025-01075-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44196-025-01075-0","pdf_url":null,"source":{"id":"https://openalex.org/S190680769","display_name":"International Journal of Computational Intelligence Systems","issn_l":"1875-6883","issn":["1875-6883","1875-6891"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Intelligence Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1007/s44196-025-01075-0","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100439512","display_name":"Biao Wang","orcid":"https://orcid.org/0000-0003-4656-8278"},"institutions":[{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Wang","raw_affiliation_strings":["Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I44675526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382376","display_name":"Zhi Li","orcid":"https://orcid.org/0009-0002-9838-8797"},"institutions":[{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Li","raw_affiliation_strings":["Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I44675526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070622034","display_name":"Ruilong Luo","orcid":"https://orcid.org/0009-0003-3919-6565"},"institutions":[{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ruilong Luo","raw_affiliation_strings":["Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I44675526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100321413","display_name":"Fang Wang","orcid":"https://orcid.org/0000-0002-4756-719X"},"institutions":[{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wang","raw_affiliation_strings":["Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I44675526"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100362288","display_name":"Xuan Liu","orcid":"https://orcid.org/0000-0002-0201-388X"},"institutions":[{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuan Liu","raw_affiliation_strings":["Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Hadal Science and Technology, College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I44675526"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5070622034"],"corresponding_institution_ids":["https://openalex.org/I44675526"],"apc_list":{"value":1390,"currency":"GBP","value_usd":1704},"apc_paid":{"value":1390,"currency":"GBP","value_usd":1704},"fwci":0.7655,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77939688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"19","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.39660000801086426,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.39660000801086426,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.1273999959230423,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.11789999902248383,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7071999907493591},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6323000192642212},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5741999745368958},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.47679999470710754},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.462799996137619},{"id":"https://openalex.org/keywords/porcupine","display_name":"Porcupine","score":0.45969998836517334},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.41350001096725464},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.3962000012397766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39329999685287476}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7071999907493591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6661999821662903},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6323000192642212},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5741999745368958},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.47679999470710754},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.462799996137619},{"id":"https://openalex.org/C2780837384","wikidata":"https://www.wikidata.org/wiki/Q1223829","display_name":"Porcupine","level":2,"score":0.45969998836517334},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41370001435279846},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38260000944137573},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.37439998984336853},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.3562999963760376},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3540000021457672},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.3467999994754791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3334999978542328},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.33000001311302185},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31869998574256897},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30219998955726624},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2928999960422516},{"id":"https://openalex.org/C149728462","wikidata":"https://www.wikidata.org/wiki/Q751319","display_name":"Minimax","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C2779669469","wikidata":"https://www.wikidata.org/wiki/Q4895508","display_name":"Battlefield","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.257099986076355},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.2567000091075897}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s44196-025-01075-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44196-025-01075-0","pdf_url":null,"source":{"id":"https://openalex.org/S190680769","display_name":"International Journal of Computational Intelligence Systems","issn_l":"1875-6883","issn":["1875-6883","1875-6891"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Intelligence Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:11c83fb89e9642f4927a56da469dd6dd","is_oa":true,"landing_page_url":"https://doaj.org/article/11c83fb89e9642f4927a56da469dd6dd","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Computational Intelligence Systems, Vol 19, Iss 1, Pp 1-22 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s44196-025-01075-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44196-025-01075-0","pdf_url":null,"source":{"id":"https://openalex.org/S190680769","display_name":"International Journal of Computational Intelligence Systems","issn_l":"1875-6883","issn":["1875-6883","1875-6891"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Intelligence Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3197456002","display_name":null,"funder_award_id":"2022YFC2808105","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3840659990","display_name":null,"funder_award_id":"52442114","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2103120971","https://openalex.org/W2576246534","https://openalex.org/W2750757093","https://openalex.org/W2898918733","https://openalex.org/W2906531903","https://openalex.org/W2991298115","https://openalex.org/W2998553334","https://openalex.org/W3019593561","https://openalex.org/W3215499080","https://openalex.org/W4221108655","https://openalex.org/W4281615013","https://openalex.org/W4308514100","https://openalex.org/W4310004251","https://openalex.org/W4311513675","https://openalex.org/W4377694071","https://openalex.org/W4387742944","https://openalex.org/W4389925373","https://openalex.org/W4390128809","https://openalex.org/W4391917176","https://openalex.org/W4397042089","https://openalex.org/W4401088552","https://openalex.org/W4401427792","https://openalex.org/W4402200351","https://openalex.org/W4405195513","https://openalex.org/W4407951455"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,33],"Improved":[4],"Crested":[5],"Porcupine":[6],"Optimizer":[7],"(ICPO)":[8],"to":[9,38],"enhance":[10,39],"the":[11,45,55,71],"efficiency":[12],"and":[13,27,43,67,82,96,117],"accuracy":[14,69],"of":[15,47],"path":[16,94],"planning":[17],"for":[18,103,123],"underwater":[19,104],"bionic":[20,124],"fish\u2014enabling":[21],"more":[22],"effective":[23],"obstacle":[24],"avoidance,":[25],"foraging,":[26],"predator":[28],"evasion.":[29],"Specifically,":[30],"ICPO":[31,78,85],"integrates":[32],"elite":[34],"reverse":[35],"learning":[36],"mechanism":[37,64],"global":[40],"search":[41],"capability":[42],"reduce":[44],"risk":[46],"premature":[48],"convergence.":[49,84],"An":[50],"improved":[51,97],"initialization":[52],"strategy":[53],"accelerates":[54],"early":[56],"exploration":[57],"phase,":[58],"while":[59],"a":[60,120],"dynamic":[61],"radius":[62],"contraction":[63],"increases":[65],"adaptability":[66],"solution":[68],"during":[70],"convergence":[72],"stage.":[73],"Experimental":[74],"results":[75],"demonstrate":[76],"that":[77],"exhibits":[79],"superior":[80],"performance":[81,108],"faster":[83],"consistently":[86],"identifies":[87],"optimal":[88],"paths":[89],"with":[90],"fewer":[91],"iterations,":[92],"reduced":[93],"lengths,":[95],"computational":[98],"efficiency,":[99],"underscoring":[100],"its":[101,115],"suitability":[102],"navigation.":[105],"Its":[106],"robust":[107],"across":[109],"varied":[110],"environmental":[111],"conditions":[112],"further":[113],"affirms":[114],"effectiveness":[116],"reliability":[118],"as":[119],"path-planning":[121],"algorithm":[122],"fish.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-12-03T00:00:00"}