{"id":"https://openalex.org/W4285145335","doi":"https://doi.org/10.1109/access.2022.3172710","title":"Chaotic Random Opposition-Based Learning and Cauchy Mutation Improved Moth-Flame Optimization Algorithm for Intelligent Route Planning of Multiple UAVs","display_name":"Chaotic Random Opposition-Based Learning and Cauchy Mutation Improved Moth-Flame Optimization Algorithm for Intelligent Route Planning of Multiple UAVs","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4285145335","doi":"https://doi.org/10.1109/access.2022.3172710"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3172710","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3172710","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09768832.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09768832.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034384474","display_name":"Mingxi Ma","orcid":"https://orcid.org/0000-0003-2463-8300"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingxi Ma","raw_affiliation_strings":["Air Control and Navigation College, Air Force Engineering University, Xi’an, China","Air Control and Navigation College, Air Force Engineering University, Xian 710051, China"],"affiliations":[{"raw_affiliation_string":"Air Control and Navigation College, Air Force Engineering University, Xi’an, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Air Control and Navigation College, Air Force Engineering University, Xian 710051, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021284542","display_name":"Jun Wu","orcid":"https://orcid.org/0000-0002-1388-7451"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wu","raw_affiliation_strings":["Air Control and Navigation College, Air Force Engineering University, Xi’an, China","Air Control and Navigation College, Air Force Engineering University, Xian 710051, China"],"affiliations":[{"raw_affiliation_string":"Air Control and Navigation College, Air Force Engineering University, Xi’an, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Air Control and Navigation College, Air Force Engineering University, Xian 710051, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017316899","display_name":"Yue Shi","orcid":"https://orcid.org/0000-0003-3387-9683"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Shi","raw_affiliation_strings":["Equipment Management and UAV Engineering College, Air Force Engineering University, Xi’an, China","Equipment Management and UAV Engineering College, Air Force Engineering University, Xian 710051, China"],"affiliations":[{"raw_affiliation_string":"Equipment Management and UAV Engineering College, Air Force Engineering University, Xi’an, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Equipment Management and UAV Engineering College, Air Force Engineering University, Xian 710051, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082177775","display_name":"Longfei Yue","orcid":"https://orcid.org/0000-0003-4618-5955"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longfei Yue","raw_affiliation_strings":["Air Control and Navigation College, Air Force Engineering University, Xi’an, China","Air Control and Navigation College, Air Force Engineering University, Xian 710051, China"],"affiliations":[{"raw_affiliation_string":"Air Control and Navigation College, Air Force Engineering University, Xi’an, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Air Control and Navigation College, Air Force Engineering University, Xian 710051, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111968626","display_name":"Cheng Yang","orcid":"https://orcid.org/0009-0003-5050-7387"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng Yang","raw_affiliation_strings":["93787 Army, Beijing, China","93787 Army, Beijing 102600, China"],"affiliations":[{"raw_affiliation_string":"93787 Army, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"93787 Army, Beijing 102600, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110873485","display_name":"Xuyi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuyi Chen","raw_affiliation_strings":["93787 Army, Beijing, China","93787 Army, Beijing 102600, China"],"affiliations":[{"raw_affiliation_string":"93787 Army, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"93787 Army, Beijing 102600, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034384474"],"corresponding_institution_ids":["https://openalex.org/I4210104252"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.365,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.93731896,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"10","issue":null,"first_page":"49385","last_page":"49397"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9952999949455261,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5731066465377808},{"id":"https://openalex.org/keywords/chaotic","display_name":"Chaotic","score":0.5480452179908752},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5283411741256714},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5267181992530823},{"id":"https://openalex.org/keywords/cauchy-distribution","display_name":"Cauchy distribution","score":0.4588315188884735},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.45167556405067444},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4307573437690735},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2799634337425232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24578037858009338}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5731066465377808},{"id":"https://openalex.org/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.5480452179908752},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5283411741256714},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5267181992530823},{"id":"https://openalex.org/C49344536","wikidata":"https://www.wikidata.org/wiki/Q726441","display_name":"Cauchy distribution","level":2,"score":0.4588315188884735},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.45167556405067444},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4307573437690735},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2799634337425232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24578037858009338},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3172710","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3172710","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09768832.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:75bb3f353fbe46a7920233c480c856a5","is_oa":true,"landing_page_url":"https://doaj.org/article/75bb3f353fbe46a7920233c480c856a5","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 49385-49397 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3172710","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3172710","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09768832.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285145335.pdf","grobid_xml":"https://content.openalex.org/works/W4285145335.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W883434633","https://openalex.org/W1659842140","https://openalex.org/W2002376034","https://openalex.org/W2034218391","https://openalex.org/W2034493736","https://openalex.org/W2038636021","https://openalex.org/W2063837731","https://openalex.org/W2082555634","https://openalex.org/W2106590226","https://openalex.org/W2109472859","https://openalex.org/W2149236946","https://openalex.org/W2152195021","https://openalex.org/W2162745921","https://openalex.org/W2163178194","https://openalex.org/W2169528473","https://openalex.org/W2335346756","https://openalex.org/W2412884363","https://openalex.org/W2927000295","https://openalex.org/W2964118380","https://openalex.org/W3021232708","https://openalex.org/W3037168587","https://openalex.org/W3095184972","https://openalex.org/W3125535900","https://openalex.org/W3135798356","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W258810497","https://openalex.org/W4308034314","https://openalex.org/W3217415483","https://openalex.org/W4285677055","https://openalex.org/W3104770499","https://openalex.org/W1992731528","https://openalex.org/W2007843488","https://openalex.org/W1994436307","https://openalex.org/W2795565301","https://openalex.org/W1987021796"],"abstract_inverted_index":{"UAV":[0,10,55,225],"route":[1,18,51,195],"planning":[2,19,52,196],"is":[3,70,76,86,99,120,190,201,214],"the":[4,16,22,35,73,83,90,96,103,109,113,116,131,136,139,150,155,167,173,178,186,192,208,221],"key":[5],"issue":[6],"for":[7,54],"application":[8],"of":[9,37,105,112,126,135,166,177,188,194,211,223],"in":[11],"real-world":[12],"scenarios.":[13],"Compared":[14],"with":[15,158],"traditional":[17],"methods,":[20],"although":[21],"intelligent":[23,50],"optimization":[24,30,67],"algorithm":[25,68,151,200],"has":[26,34],"stronger":[27],"applicability":[28],"and":[29,41,62,82,107,142,207,216],"performance,":[31],"it":[32],"also":[33,163],"problem":[36],"poor":[38],"convergence":[39,209],"accuracy":[40],"easy":[42],"to":[43,88,101,122],"fall":[44],"into":[45],"local":[46],"optimization.":[47],"Therefore,":[48],"an":[49],"method":[53,213],"based":[56,197],"on":[57,198],"chaotic":[58],"random":[59,124],"opposition-based":[60],"learning":[61],"cauchy":[63],"mutation":[64,144],"improved":[65],"Moth-flame":[66],"(OLTC-MFO)":[69],"proposed.":[71],"First,":[72],"terrain":[74],"environment":[75],"constructed":[77],"by":[78],"digital":[79],"elevation":[80],"map,":[81],"threat":[84],"model":[85],"established":[87],"realize":[89,123],"equivalent":[91],"three-dimensional":[92],"(3D)":[93],"environment.":[94],"Then,":[95,115],"opposite":[97],"population":[98],"introduced":[100,121],"increase":[102],"diversity":[104],"solutions":[106],"improve":[108],"search":[110,133,175],"speed":[111],"algorithm.":[114,137,179],"Logistic-Tent":[117],"chaos":[118],"map":[119],"perturbation":[125],"flame":[127],"position,":[128],"which":[129,148,219],"improves":[130],"global":[132,174],"capability":[134,176],"Finally,":[138],"probability":[140],"operator":[141,145],"Cauchy":[143],"are":[146],"introduced,":[147],"makes":[149],"not":[152],"only":[153],"accept":[154],"current":[156,168],"solution":[157],"a":[159],"certain":[160],"probability,":[161],"but":[162],"jump":[164],"out":[165],"sub-optimal":[169],"solution,":[170],"thus":[171],"enhancing":[172],"The":[180],"simulation":[181],"results":[182],"show":[183],"that":[184],"when":[185],"number":[187],"iterations":[189],"1000,":[191],"length":[193],"OLTC-MFO":[199],"45.3716km":[202],"shorter":[203],"than":[204],"MFO":[205],"algorithm,":[206],"result":[210],"this":[212],"stable":[215],"more":[217],"accurate,":[218],"achieves":[220],"purpose":[222],"assisting":[224],"combat":[226],"decision-making.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}