{"id":"https://openalex.org/W4412539563","doi":"https://doi.org/10.1007/s44443-025-00135-x","title":"Direction-assisted enhanced black-winged kite algorithm for mobile robot path planning","display_name":"Direction-assisted enhanced black-winged kite algorithm for mobile robot path planning","publication_year":2025,"publication_date":"2025-07-21","ids":{"openalex":"https://openalex.org/W4412539563","doi":"https://doi.org/10.1007/s44443-025-00135-x"},"language":"en","primary_location":{"id":"doi:10.1007/s44443-025-00135-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-025-00135-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00135-x.pdf","source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"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":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00135-x.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059990583","display_name":"Honglin Wan","orcid":"https://orcid.org/0000-0001-7592-8944"},"institutions":[{"id":"https://openalex.org/I46520130","display_name":"Chaohu University","ror":"https://ror.org/00mwds915","country_code":"CN","type":"education","lineage":["https://openalex.org/I46520130"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Honglin Wan","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Chaohu University, Hefei, 238024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Chaohu University, Hefei, 238024, China","institution_ids":["https://openalex.org/I46520130"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038194678","display_name":"Qilin Wu","orcid":"https://orcid.org/0000-0002-7625-8919"},"institutions":[{"id":"https://openalex.org/I46520130","display_name":"Chaohu University","ror":"https://ror.org/00mwds915","country_code":"CN","type":"education","lineage":["https://openalex.org/I46520130"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qilin Wu","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Chaohu University, Hefei, 238024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Chaohu University, Hefei, 238024, China","institution_ids":["https://openalex.org/I46520130"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhaochun Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I46520130","display_name":"Chaohu University","ror":"https://ror.org/00mwds915","country_code":"CN","type":"education","lineage":["https://openalex.org/I46520130"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaochun Peng","raw_affiliation_strings":["School of Mechanical Engineering, Chaohu University, Hefei, 238024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Chaohu University, Hefei, 238024, China","institution_ids":["https://openalex.org/I46520130"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101451016","display_name":"Zheng Lu","orcid":"https://orcid.org/0000-0002-7203-220X"},"institutions":[{"id":"https://openalex.org/I46520130","display_name":"Chaohu University","ror":"https://ror.org/00mwds915","country_code":"CN","type":"education","lineage":["https://openalex.org/I46520130"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Lu","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Chaohu University, Hefei, 238024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Chaohu University, Hefei, 238024, China","institution_ids":["https://openalex.org/I46520130"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5059990583"],"corresponding_institution_ids":["https://openalex.org/I46520130"],"apc_list":{"value":1350,"currency":"USD","value_usd":1350},"apc_paid":{"value":1350,"currency":"USD","value_usd":1350},"fwci":10.0877,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.97439228,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"37","issue":"6","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9854999780654907,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kite","display_name":"Kite","score":0.8376548886299133},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5925843715667725},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5844152569770813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.555971622467041},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4173964858055115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40018999576568604},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3315826952457428},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32596355676651},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2698262631893158},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15566641092300415},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09287205338478088}],"concepts":[{"id":"https://openalex.org/C2777229633","wikidata":"https://www.wikidata.org/wiki/Q107061","display_name":"Kite","level":2,"score":0.8376548886299133},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5925843715667725},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5844152569770813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.555971622467041},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4173964858055115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40018999576568604},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3315826952457428},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32596355676651},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2698262631893158},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15566641092300415},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09287205338478088}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s44443-025-00135-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-025-00135-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00135-x.pdf","source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"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":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:80295e0b00db45bc97081f3b88002a65","is_oa":true,"landing_page_url":"https://doaj.org/article/80295e0b00db45bc97081f3b88002a65","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":"Journal of King Saud University: Computer and Information Sciences, Vol 37, Iss 6, Pp 1-20 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s44443-025-00135-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-025-00135-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00135-x.pdf","source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"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":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330920","display_name":"Chaohu University","ror":"https://ror.org/00mwds915"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412539563.pdf","grobid_xml":"https://content.openalex.org/works/W4412539563.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W2043444068","https://openalex.org/W2063914115","https://openalex.org/W2290883490","https://openalex.org/W2507623471","https://openalex.org/W2620983293","https://openalex.org/W2939018330","https://openalex.org/W3097309452","https://openalex.org/W3111308533","https://openalex.org/W3126326857","https://openalex.org/W3132903470","https://openalex.org/W3135798356","https://openalex.org/W3155070735","https://openalex.org/W3160924250","https://openalex.org/W3198138968","https://openalex.org/W3205203085","https://openalex.org/W4220893856","https://openalex.org/W4311757964","https://openalex.org/W4323318033","https://openalex.org/W4327956071","https://openalex.org/W4362664520","https://openalex.org/W4367839715","https://openalex.org/W4378701402","https://openalex.org/W4382402823","https://openalex.org/W4387045345","https://openalex.org/W4387675536","https://openalex.org/W4389038549","https://openalex.org/W4390745875","https://openalex.org/W4391290222","https://openalex.org/W4391917176","https://openalex.org/W4392946413","https://openalex.org/W4393098597","https://openalex.org/W4393115836","https://openalex.org/W4401843442","https://openalex.org/W4404058516","https://openalex.org/W4404198301"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231"],"abstract_inverted_index":{"Path":[0],"planning":[1],"for":[2,159],"mobile":[3],"robots":[4],"in":[5,12,86],"complex":[6],"environments":[7],"remains":[8],"a":[9,33,87,91],"critical":[10],"challenge":[11],"autonomous":[13],"robotics,":[14],"where":[15],"conventional":[16],"meta-heuristic":[17],"algorithms":[18],"often":[19],"constrain":[20],"motion":[21,76,165],"to":[22,72,81,83,98,104,134],"sequential":[23],"node-by-node":[24],"progression.":[25],"To":[26],"overcome":[27],"this":[28,30],"limitation,":[29],"paper":[31],"proposes":[32],"Direction-Assisted":[34],"Enhanced":[35],"Black-winged":[36,60],"Kite":[37,61],"Algorithm":[38,62],"(DAEBKA)":[39],"that":[40,153],"enables":[41],"non-sequential":[42],"path":[43,148,162],"transitions":[44],"through":[45,64],"synergistic":[46],"integration":[47,94],"of":[48,58,102,112],"optimization":[49,56,110],"and":[50,67,78,126,138],"directional":[51,70,106],"heuristics.":[52],"DAEBKA":[53,140,154],"enhances":[54],"the":[55,59,74,100,109,113],"capacity":[57],"(BKA)":[63],"two":[65],"strategies,":[66],"then":[68],"utilizes":[69],"heuristics":[71,107],"expand":[73],"robot's":[75],"primitives":[77],"allow":[79],"it":[80],"move":[82],"distant":[84],"points":[85],"single":[88],"step.":[89],"Lastly,":[90],"novel":[92],"graph-based":[93],"strategy":[95],"is":[96,155],"proposed":[97],"address":[99],"issue":[101],"how":[103],"introduce":[105],"into":[108],"process":[111],"enhanced":[114],"BKA":[115],"algorithm":[116],"(EBKA).":[117],"Experimental":[118],"simulations":[119],"across":[120],"different":[121],"scenarios":[122],"have":[123],"been":[124],"tested,":[125],"these":[127],"results":[128,151],"demonstrate":[129],"DAEBKA's":[130],"superior":[131],"performance:":[132],"Compared":[133],"MAACO":[135],",":[136],"MsAACO,":[137],"IHMACO,":[139],"reduces":[141],"turns":[142],"by":[143],"11.1\u201338.5%":[144],"while":[145],"maintaining":[146],"consistent":[147],"lengths.":[149],"These":[150],"confirm":[152],"an":[156],"alternative":[157],"solution":[158],"practical":[160],"robotic":[161],"planning,":[163],"ensuring":[164],"smoothness.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}