The unmanned aerial vehicle (UAV) route planning problem mainly centralizes on the process of calculating the best route between the departure point and target point as well as avoiding obstructions on route to avoid collisions within a given flight area. A highly efficient route planning approach is required for this complex high dimensional optimization problem. However, many algorithms are infeasible or have low efficiency, particularly in the complex three-dimensional (3d) flight environment. In this paper, a modified sparrow search algorithm named CASSA has been presented to deal with this problem. Firstly, the 3d task space model and the UAV route planning cost functions are established, and the problem of route planning is transformed into a multi-dimensional function optimization problem. Secondly, the chaotic strategy is introduced to enhance the diversity of the population of the algorithm, and an adaptive inertia weight is used to balance the convergence rate and exploration capabilities of the algorithm. Finally, the Cauchy–Gaussian mutation strategy is adopted to enhance the capability of the algorithm to get rid of stagnation. The results of simulation demonstrate that the routes generated by CASSA are preferable to the sparrow search algorithm (SSA), particle swarm optimization (PSO), artificial bee colony (ABC), and whale optimization algorithm (WOA) under the identical environment, which means that CASSA is more efficient for solving UAV route planning problem when taking all kinds of constraints into consideration.

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Although several studies support evolutionary perspectives on sex differences in romantic attachment, these sex differences in East Asia remain controversial. To estimate the effect size of sex differences in romantic attachment among Chinese adults, a meta-analysis of sex differences was conducted in the present study. This meta-analysis was based on 111 samples using the Chinese version of the Experiences in Close Relationships Scale and its revised version. The findings suggest that the effect size of sex differences in romantic attachment among Chinese adults is relatively small. Overall, females demonstrated higher anxiety and avoidance than males, with substantial between-study heterogeneity. Sex differences were largest in community samples, with higher avoidance and lower anxiety in males. There were smaller sex differences in college student samples, with higher anxiety and avoidance in females. The degree of sex differences also varied across geographical regions, with high-stress and high-fertility reproductive environments showing smaller sex differences in general and larger sex differences in extreme conditions. Sex differences in anxiety increased linearly with age, whereas those in avoidance remained unchanged. The results support evolutionary perspectives of sex differences in romantic attachment, which assume that the average sex differences in romantic attachment styles should be relatively small in most populations, and many possible factors might moderate such differences. The heterogeneity and limitations of the current findings and directions for future research on sex differences in romantic attachment are discussed.