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. 2012 Oct 21;2012:583973. doi: 10.1100/2012/583973

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Copyright © 2012 Gaige Wang et al.

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Parameter values were NP = 30, p _a = 0.25. (a) Path-planning original results comparison between basic CS and improved CS in a three-dimension space. (b) Route comparison after using the smoothing strategy in a three-dimension space. (c) Path-planning original results comparison between basic CS and improved CS in a two-dimension space. (d) Route comparison after using the smoothing strategy in a two-dimension space. (e) Evolution curves comparison between the basic CS and the improved CS.