{"id":"https://openalex.org/W7147207316","doi":"https://doi.org/10.3390/a19040272","title":"Multi-Strategy-Enhanced Improved Horned Lizard Optimization Algorithm for Path Planning in Mobile Robots","display_name":"Multi-Strategy-Enhanced Improved Horned Lizard Optimization Algorithm for Path Planning in Mobile Robots","publication_year":2026,"publication_date":"2026-04-01","ids":{"openalex":"https://openalex.org/W7147207316","doi":"https://doi.org/10.3390/a19040272"},"language":"en","primary_location":{"id":"doi:10.3390/a19040272","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19040272","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/a19040272","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132594539","display_name":"Baoting Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129127","display_name":"The First People\u2019s Hospital of Lianyungang","ror":"https://ror.org/03617rq47","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129127"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoting Yin","raw_affiliation_strings":["School of Mathematics and Information Engineering, Lianyungang Normal University, Lianyungang 222006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics and Information Engineering, Lianyungang Normal University, Lianyungang 222006, China","institution_ids":["https://openalex.org/I4210129127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132550210","display_name":"He Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]},{"id":"https://openalex.org/I4210129127","display_name":"The First People\u2019s Hospital of Lianyungang","ror":"https://ror.org/03617rq47","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129127"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"He Lu","raw_affiliation_strings":["Institute of Functional Materials and Applied Technology, Lianyungang Normal University, Lianyungang 222006, China","School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Functional Materials and Applied Technology, Lianyungang Normal University, Lianyungang 222006, China","institution_ids":["https://openalex.org/I4210129127"]},{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132694919","display_name":"Lili Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129127","display_name":"The First People\u2019s Hospital of Lianyungang","ror":"https://ror.org/03617rq47","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129127"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lili Dai","raw_affiliation_strings":["Institute of Functional Materials and Applied Technology, Lianyungang Normal University, Lianyungang 222006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Functional Materials and Applied Technology, Lianyungang Normal University, Lianyungang 222006, China","institution_ids":["https://openalex.org/I4210129127"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075471591","display_name":"Hongxing Ding","orcid":"https://orcid.org/0000-0001-9027-5662"},"institutions":[{"id":"https://openalex.org/I4210129127","display_name":"The First People\u2019s Hospital of Lianyungang","ror":"https://ror.org/03617rq47","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129127"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxing Ding","raw_affiliation_strings":["Institute of Functional Materials and Applied Technology, Lianyungang Normal University, Lianyungang 222006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Functional Materials and Applied Technology, Lianyungang Normal University, Lianyungang 222006, China","institution_ids":["https://openalex.org/I4210129127"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5132550210"],"corresponding_institution_ids":["https://openalex.org/I25757504","https://openalex.org/I4210129127"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":7.2205,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96496968,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"19","issue":"4","first_page":"272","last_page":"272"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5963000059127808,"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":0.5963000059127808,"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.19679999351501465,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.022199999541044235,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/benchmark","display_name":"Benchmark (surveying)","score":0.6604999899864197},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.5371999740600586},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4936999976634979},{"id":"https://openalex.org/keywords/crossover","display_name":"Crossover","score":0.4893999993801117},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4740999937057495},{"id":"https://openalex.org/keywords/global-optimization","display_name":"Global optimization","score":0.4740000069141388},{"id":"https://openalex.org/keywords/premature-convergence","display_name":"Premature convergence","score":0.45590001344680786},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41350001096725464},{"id":"https://openalex.org/keywords/chaotic","display_name":"Chaotic","score":0.3912000060081482}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6604999899864197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5925999879837036},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5519000291824341},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.5371999740600586},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4936999976634979},{"id":"https://openalex.org/C122507166","wikidata":"https://www.wikidata.org/wiki/Q628906","display_name":"Crossover","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4740999937057495},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.4740000069141388},{"id":"https://openalex.org/C58758708","wikidata":"https://www.wikidata.org/wiki/Q7240233","display_name":"Premature convergence","level":3,"score":0.45590001344680786},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4537999927997589},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C205555498","wikidata":"https://www.wikidata.org/wiki/Q505588","display_name":"CMA-ES","level":4,"score":0.35530000925064087},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.34200000762939453},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3398999869823456},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3179999887943268},{"id":"https://openalex.org/C104247578","wikidata":"https://www.wikidata.org/wiki/Q4779368","display_name":"Aperiodic graph","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29089999198913574},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C150185637","wikidata":"https://www.wikidata.org/wiki/Q7705773","display_name":"Test functions for optimization","level":4,"score":0.25429999828338623},{"id":"https://openalex.org/C30481170","wikidata":"https://www.wikidata.org/wiki/Q37748","display_name":"Chromosome","level":3,"score":0.2538999915122986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.2533000111579895},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a19040272","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19040272","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b3a9b905690d4836bd6081535d43b45d","is_oa":true,"landing_page_url":"https://doaj.org/article/b3a9b905690d4836bd6081535d43b45d","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":"Algorithms, Vol 19, Iss 4, p 272 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a19040272","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19040272","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2284726324","https://openalex.org/W2620983293","https://openalex.org/W3110142038","https://openalex.org/W4285808330","https://openalex.org/W4390128809","https://openalex.org/W4391290222","https://openalex.org/W4391881477","https://openalex.org/W4392435107","https://openalex.org/W4393115836","https://openalex.org/W4402681385","https://openalex.org/W4402847529","https://openalex.org/W4404058516","https://openalex.org/W4404490805","https://openalex.org/W4404654555","https://openalex.org/W4404731242","https://openalex.org/W4404890763","https://openalex.org/W4404996782","https://openalex.org/W4405674320","https://openalex.org/W4405971915","https://openalex.org/W4406833791","https://openalex.org/W4407065149","https://openalex.org/W4407151859","https://openalex.org/W4407599325","https://openalex.org/W4408103371","https://openalex.org/W4408118535","https://openalex.org/W4408254387","https://openalex.org/W4409158460"],"related_works":[],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,6,46,57,62,67,84,91,98,107,112,116,122,144,151,185,212,237,249,276,283,287,300,313],"inherent":[3],"defects":[4],"of":[5,61,72,167,219,278,316],"Horned":[7,36],"Lizard":[8,37],"Optimization":[9,38],"Algorithm":[10,39],"(HLOA),":[11],"such":[12],"as":[13],"insufficient":[14],"global":[15,123],"exploration":[16,27,124],"capability,":[17],"premature":[18],"convergence":[19,137,222],"to":[20,95,120,155,188,282],"local":[21,130,141],"optima,":[22],"and":[23,28,59,69,102,115,129,162,171,182,203,224,229,270,292,303],"inadequate":[24],"balance":[25,121],"between":[26,160],"exploitation,":[29],"this":[30,175],"paper":[31],"proposes":[32],"an":[33,271],"enhanced":[34],"Improved":[35],"(IHLOA)":[40],"integrated":[41],"with":[42,255],"multi-strategy":[43],"improvements.":[44],"Firstly,":[45],"Fuch":[47],"chaotic":[48,73],"mapping":[49],"is":[50,88,148],"introduced":[51],"for":[52,79,125,132,326],"population":[53,64],"initialization,":[54],"which":[55],"enhances":[56,184],"ergodicity":[58],"diversity":[60],"initial":[63],"by":[65,252],"leveraging":[66],"pseudo-random":[68],"aperiodic":[70],"characteristics":[71],"sequences,":[74],"laying":[75],"a":[76,264,322],"high-quality":[77,190],"foundation":[78],"subsequent":[80],"optimization":[81,220,324],"searches.":[82],"Secondly,":[83],"golden":[85,117],"sine":[86,113],"strategy":[87,105,147,176],"embedded":[89],"into":[90],"iterative":[92],"update":[93],"process":[94],"dynamically":[96],"adjust":[97],"search":[99,179],"step":[100],"size":[101],"direction.":[103],"This":[104,308],"utilizes":[106],"periodic":[108],"amplitude":[109],"variation":[110],"in":[111,150,217,243,258,267,275,294,331],"function":[114],"section":[118],"coefficient":[119],"potential":[126],"optimal":[127],"regions":[128],"exploitation":[131],"refined":[133],"optimization,":[134],"thereby":[135],"accelerating":[136],"speed":[138],"while":[139],"avoiding":[140],"stagnation.":[142],"Finally,":[143],"orthogonal":[145],"crossover":[146],"incorporated":[149],"late":[152],"iteration":[153],"stage":[154],"promote":[156],"effective":[157],"information":[158],"interaction":[159],"parent":[161],"offspring":[163],"populations.":[164],"By":[165],"means":[166],"chromosome":[168],"segment":[169],"exchange":[170],"elitist":[172],"retention":[173],"mechanisms,":[174],"reduces":[177,248],"dimensional":[178],"blind":[180],"spots":[181],"further":[183],"algorithm\u2019s":[186],"ability":[187],"capture":[189],"solutions.":[191],"Comprehensive":[192],"experimental":[193],"evaluations":[194],"are":[195],"conducted":[196],"based":[197],"on":[198],"classical":[199],"benchmark":[200,256],"test":[201],"functions":[202],"eight":[204],"state-of-the-art":[205],"meta-heuristic":[206,317],"algorithms.":[207],"The":[208],"results":[209],"demonstrate":[210],"that":[211],"IHLOA":[213,238,288],"outperforms":[214],"comparative":[215],"algorithms":[216,318],"terms":[218],"accuracy,":[221],"speed,":[223],"stability":[225],"across":[226],"30-D,":[227],"50-D,":[228],"80-D":[230],"scenarios.":[231],"For":[232],"practical":[233],"path":[234,245,250,260,268,301,329],"planning":[235,330],"applications,":[236],"achieves":[239],"remarkable":[240],"performance":[241],"improvements:":[242],"single-goal":[244],"planning,":[246,261],"it":[247,262],"length":[251,269,302],"2.54\u201387.64%":[253],"compared":[254],"algorithms;":[257],"multi-goal":[259],"realizes":[263],"1.24\u20137.99%":[265],"reduction":[266,274],"11.91%":[272],"average":[273],"number":[277],"turning":[279],"points":[280],"relative":[281],"original":[284],"HLOA.":[285],"Additionally,":[286],"exhibits":[289],"excellent":[290],"robustness":[291],"adaptability":[293],"dynamic":[295],"obstacle":[296],"environments,":[297],"effectively":[298],"shortening":[299],"reducing":[304],"robot":[305,328],"stuck":[306],"times.":[307],"research":[309],"not":[310],"only":[311],"enriches":[312],"improvement":[314],"framework":[315],"but":[319],"also":[320],"provides":[321],"high-efficiency":[323],"solution":[325],"mobile":[327],"complex":[332],"environments.":[333]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-04-02T00:00:00"}