{"id":"https://openalex.org/W4285392085","doi":"https://doi.org/10.3390/s22145232","title":"UAV Path Planning Algorithm Based on Improved Harris Hawks Optimization","display_name":"UAV Path Planning Algorithm Based on Improved Harris Hawks Optimization","publication_year":2022,"publication_date":"2022-07-13","ids":{"openalex":"https://openalex.org/W4285392085","doi":"https://doi.org/10.3390/s22145232","pmid":"https://pubmed.ncbi.nlm.nih.gov/35890912"},"language":"en","primary_location":{"id":"doi:10.3390/s22145232","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145232","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5232/pdf?version=1657788574","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/14/5232/pdf?version=1657788574","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100439281","display_name":"Ran Zhang","orcid":"https://orcid.org/0000-0001-7643-3935"},"institutions":[{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Zhang","raw_affiliation_strings":["Communication and Network Laboratory, Dalian University, Dalian 116622, China","School of Information Engineering, Dalian University, Dalian 116622, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Communication and Network Laboratory, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]},{"raw_affiliation_string":"School of Information Engineering, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100444231","display_name":"Sen Li","orcid":"https://orcid.org/0000-0001-7747-4253"},"institutions":[{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sen Li","raw_affiliation_strings":["Communication and Network Laboratory, Dalian University, Dalian 116622, China","School of Information Engineering, Dalian University, Dalian 116622, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Communication and Network Laboratory, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]},{"raw_affiliation_string":"School of Information Engineering, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017997068","display_name":"Yuanming Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanming Ding","raw_affiliation_strings":["Communication and Network Laboratory, Dalian University, Dalian 116622, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Communication and Network Laboratory, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036779660","display_name":"Xutong Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xutong Qin","raw_affiliation_strings":["Communication and Network Laboratory, Dalian University, Dalian 116622, China","School of Information Engineering, Dalian University, Dalian 116622, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Communication and Network Laboratory, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]},{"raw_affiliation_string":"School of Information Engineering, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069974625","display_name":"Qingyu Xia","orcid":"https://orcid.org/0000-0001-5945-1859"},"institutions":[{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyu Xia","raw_affiliation_strings":["Communication and Network Laboratory, Dalian University, Dalian 116622, China","School of Information Engineering, Dalian University, Dalian 116622, China"],"raw_orcid":"https://orcid.org/0000-0001-5945-1859","affiliations":[{"raw_affiliation_string":"Communication and Network Laboratory, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]},{"raw_affiliation_string":"School of Information Engineering, Dalian University, Dalian 116622, China","institution_ids":["https://openalex.org/I4210092944"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100444231"],"corresponding_institution_ids":["https://openalex.org/I4210092944"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.6004,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.96066209,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"22","issue":"14","first_page":"5232","last_page":"5232"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9968000054359436,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9968000054359436,"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/motion-planning","display_name":"Motion planning","score":0.7926268577575684},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6277212500572205},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5213514566421509},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46870654821395874},{"id":"https://openalex.org/keywords/local-optimum","display_name":"Local optimum","score":0.4681570529937744},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.46029624342918396},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4311937689781189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39539384841918945},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3387764096260071},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28410834074020386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20594531297683716}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7926268577575684},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6277212500572205},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5213514566421509},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46870654821395874},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.4681570529937744},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46029624342918396},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4311937689781189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39539384841918945},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3387764096260071},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28410834074020386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20594531297683716},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s22145232","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145232","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5232/pdf?version=1657788574","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:35890912","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35890912","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:b831374392ce43478e6f57b7a3254efd","is_oa":true,"landing_page_url":"https://doaj.org/article/b831374392ce43478e6f57b7a3254efd","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":"Sensors, Vol 22, Iss 14, p 5232 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/14/5232/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22145232","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 22; Issue 14; Pages: 5232","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9321467","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9321467","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22145232","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145232","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5232/pdf?version=1657788574","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2651367802","display_name":null,"funder_award_id":"61901079","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7441744138","display_name":null,"funder_award_id":"61403110308","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"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285392085.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W47018920","https://openalex.org/W1796515575","https://openalex.org/W1982572762","https://openalex.org/W2057307046","https://openalex.org/W2082473446","https://openalex.org/W2290883490","https://openalex.org/W2417637069","https://openalex.org/W2462226675","https://openalex.org/W2576324142","https://openalex.org/W2807800575","https://openalex.org/W2919979744","https://openalex.org/W2964884740","https://openalex.org/W2979079913","https://openalex.org/W2980792681","https://openalex.org/W2991269630","https://openalex.org/W2996850699","https://openalex.org/W2999980602","https://openalex.org/W3009351641","https://openalex.org/W3010014325","https://openalex.org/W3014660400","https://openalex.org/W3085858072","https://openalex.org/W3089893234","https://openalex.org/W3123071601","https://openalex.org/W3134587582","https://openalex.org/W3155128983","https://openalex.org/W3159136932","https://openalex.org/W3174151052","https://openalex.org/W3176039641","https://openalex.org/W3182604431","https://openalex.org/W3184078521","https://openalex.org/W3197604099","https://openalex.org/W3203401755","https://openalex.org/W3205383004","https://openalex.org/W4200220124","https://openalex.org/W4200619876","https://openalex.org/W4210554257","https://openalex.org/W4225527189","https://openalex.org/W4244728377","https://openalex.org/W6601920581","https://openalex.org/W6805069965","https://openalex.org/W6807926090"],"related_works":["https://openalex.org/W2992415251","https://openalex.org/W4283765137","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W2153702122","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0,40,124],"the":[1,25,31,77,95,105,112,116,121,130,137,153,161],"Unmanned":[2],"Aerial":[3],"Vehicle":[4],"(UAV)":[5],"system,":[6],"finding":[7],"a":[8,49,67,82,176],"flight":[9,29,68],"planning":[10,32,52,79,180],"path":[11,51,69,78,92,179],"with":[12],"low":[13],"cost":[14,70],"and":[15,66,99,119,143,170,172],"fast":[16],"search":[17,117,122],"speed":[18,169],"is":[19,37,88,141],"an":[20],"important":[21],"problem.":[22,86],"However,":[23],"in":[24,104,108,126],"complex":[26],"three-dimensional":[27],"(3D)":[28],"environment,":[30],"effect":[33],"of":[34,132],"many":[35],"algorithms":[36],"not":[38],"ideal.":[39],"order":[41,109,127],"to":[42,75,110,128,149,152],"improve":[43,120],"its":[44,144],"performance,":[45],"this":[46],"paper":[47],"proposes":[48],"UAV":[50],"algorithm":[53,163],"based":[54],"on":[55],"improved":[56,90],"Harris":[57],"Hawks":[58],"Optimization":[59],"(HHO).":[60],"A":[61],"3D":[62],"mission":[63],"space":[64,118],"model":[65],"function":[71,84],"are":[72,102,147],"first":[73],"established":[74],"transform":[76],"problem":[80],"into":[81,134],"multidimensional":[83],"optimization":[85,166],"HHO":[87],"then":[89],"for":[91,182],"planning,":[93],"where":[94],"Cauchy":[96],"mutation":[97],"strategy":[98],"adaptive":[100],"weight":[101],"introduced":[103],"exploration":[106],"process":[107],"increase":[111],"population":[113],"diversity,":[114],"expand":[115],"ability.":[123],"addition,":[125],"reduce":[129],"possibility":[131],"falling":[133],"local":[135],"extremum,":[136],"Sine-cosine":[138],"Algorithm":[139],"(SCA)":[140],"used":[142],"oscillation":[145],"characteristics":[146],"considered":[148],"gradually":[150],"converge":[151],"optimal":[154],"solution.":[155],"The":[156],"simulation":[157],"results":[158],"show":[159],"that":[160],"proposed":[162],"has":[164],"high":[165],"accuracy,":[167],"convergence":[168],"robustness,":[171],"it":[173],"can":[174],"generate":[175],"more":[177],"optimized":[178],"result":[181],"UAVs.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
