id	sid	tid	token	lemma	pos
ajst-17392	1	1	academic	academic	ADJ
ajst-17392	1	2	journal	journal	NOUN
ajst-17392	1	3	of	of	ADP
ajst-17392	1	4	science	science	NOUN
ajst-17392	1	5	and	and	CCONJ
ajst-17392	1	6	technology	technology	NOUN
ajst-17392	1	7	issn	issn	NOUN
ajst-17392	1	8	:	:	PUNCT
ajst-17392	1	9	2771	2771	NUM
ajst-17392	1	10	-	-	SYM
ajst-17392	1	11	3032	3032	NUM
ajst-17392	1	12	|	|	NOUN
ajst-17392	1	13	vol	vol	NOUN
ajst-17392	1	14	.	.	PROPN
ajst-17392	2	1	9	9	NUM
ajst-17392	2	2	,	,	PUNCT
ajst-17392	2	3	no	no	INTJ
ajst-17392	2	4	.	.	NOUN
ajst-17392	2	5	2	2	NUM
ajst-17392	2	6	,	,	PUNCT
ajst-17392	2	7	2024	2024	NUM
ajst-17392	2	8	77	77	NUM
ajst-17392	2	9	study	study	NOUN
ajst-17392	2	10	of	of	ADP
ajst-17392	2	11	robot	robot	NOUN
ajst-17392	2	12	path	path	PROPN
ajst-17392	2	13	planning	planning	NOUN
ajst-17392	2	14	with	with	ADP
ajst-17392	2	15	improved	improve	VERB
ajst-17392	2	16	a	a	PRON
ajst-17392	2	17	*	*	PUNCT
ajst-17392	2	18	and	and	CCONJ
ajst-17392	2	19	dwa	dwa	VERB
ajst-17392	2	20	algorithm	algorithm	NOUN
ajst-17392	2	21	fusion	fusion	NOUN
ajst-17392	2	22	jiayi	jiayi	PROPN
ajst-17392	2	23	chen	chen	PROPN
ajst-17392	2	24	,	,	PUNCT
ajst-17392	2	25	josef	josef	PROPN
ajst-17392	2	26	cheng	cheng	PROPN
ajst-17392	2	27	*	*	PROPN
ajst-17392	2	28	xi'an	xi'an	PROPN
ajst-17392	2	29	shiyou	shiyou	PROPN
ajst-17392	2	30	university	university	PROPN
ajst-17392	2	31	,	,	PUNCT
ajst-17392	2	32	710065	710065	NUM
ajst-17392	2	33	,	,	PUNCT
ajst-17392	2	34	xi'an	xi'an	PROPN
ajst-17392	2	35	,	,	PUNCT
ajst-17392	2	36	shanxi	shanxi	PROPN
ajst-17392	2	37	,	,	PUNCT
ajst-17392	2	38	china	china	PROPN
ajst-17392	2	39	*	*	PUNCT
ajst-17392	2	40	corresponding	correspond	VERB
ajst-17392	2	41	author	author	NOUN
ajst-17392	2	42	:	:	PUNCT
ajst-17392	2	43	abstract	abstract	ADJ
ajst-17392	2	44	:	:	PUNCT
ajst-17392	2	45	for	for	ADP
ajst-17392	2	46	some	some	DET
ajst-17392	2	47	problems	problem	NOUN
ajst-17392	2	48	of	of	ADP
ajst-17392	2	49	the	the	DET
ajst-17392	2	50	traditional	traditional	ADJ
ajst-17392	2	51	a	a	PRON
ajst-17392	2	52	*	*	ADJ
ajst-17392	2	53	algorithm	algorithm	NOUN
ajst-17392	2	54	in	in	ADP
ajst-17392	2	55	robot	robot	NOUN
ajst-17392	2	56	path	path	PROPN
ajst-17392	2	57	planning	planning	NOUN
ajst-17392	2	58	,	,	PUNCT
ajst-17392	2	59	such	such	ADJ
ajst-17392	2	60	as	as	ADP
ajst-17392	2	61	inefficient	inefficient	ADJ
ajst-17392	2	62	search	search	NOUN
ajst-17392	2	63	,	,	PUNCT
ajst-17392	2	64	many	many	ADJ
ajst-17392	2	65	and	and	CCONJ
ajst-17392	2	66	complex	complex	ADJ
ajst-17392	2	67	inflection	inflection	NOUN
ajst-17392	2	68	points	point	NOUN
ajst-17392	2	69	in	in	ADP
ajst-17392	2	70	the	the	DET
ajst-17392	2	71	designed	design	VERB
ajst-17392	2	72	and	and	CCONJ
ajst-17392	2	73	realized	realize	VERB
ajst-17392	2	74	paths	path	NOUN
ajst-17392	2	75	,	,	PUNCT
ajst-17392	2	76	as	as	ADV
ajst-17392	2	77	well	well	ADV
ajst-17392	2	78	as	as	ADP
ajst-17392	2	79	the	the	DET
ajst-17392	2	80	inability	inability	NOUN
ajst-17392	2	81	to	to	PART
ajst-17392	2	82	complete	complete	VERB
ajst-17392	2	83	real	real	ADJ
ajst-17392	2	84	-	-	PUNCT
ajst-17392	2	85	time	time	NOUN
ajst-17392	2	86	dynamic	dynamic	ADJ
ajst-17392	2	87	path	path	NOUN
ajst-17392	2	88	planning	planning	NOUN
ajst-17392	2	89	for	for	ADP
ajst-17392	2	90	obstacle	obstacle	NOUN
ajst-17392	2	91	avoidance	avoidance	NOUN
ajst-17392	2	92	,	,	PUNCT
ajst-17392	2	93	this	this	DET
ajst-17392	2	94	paper	paper	NOUN
ajst-17392	2	95	proposes	propose	VERB
ajst-17392	2	96	an	an	DET
ajst-17392	2	97	improved	improved	ADJ
ajst-17392	2	98	a	a	DET
ajst-17392	2	99	algorithm	algorithm	NOUN
ajst-17392	2	100	and	and	CCONJ
ajst-17392	2	101	combines	combine	VERB
ajst-17392	2	102	it	it	PRON
ajst-17392	2	103	with	with	ADP
ajst-17392	2	104	floyd	floyd	PROPN
ajst-17392	2	105	for	for	ADP
ajst-17392	2	106	path	path	NOUN
ajst-17392	2	107	rounding	rounding	NOUN
ajst-17392	2	108	,	,	PUNCT
ajst-17392	2	109	and	and	CCONJ
ajst-17392	2	110	finally	finally	ADV
ajst-17392	2	111	with	with	ADP
ajst-17392	2	112	dwa	dwa	PROPN
ajst-17392	2	113	(	(	PUNCT
ajst-17392	2	114	dynamic	dynamic	ADJ
ajst-17392	2	115	window	window	NOUN
ajst-17392	2	116	approach	approach	NOUN
ajst-17392	2	117	)	)	PUNCT
ajst-17392	2	118	algorithm	algorithm	NOUN
ajst-17392	2	119	to	to	PART
ajst-17392	2	120	be	be	AUX
ajst-17392	2	121	fusion	fusion	NOUN
ajst-17392	2	122	.	.	PUNCT
ajst-17392	3	1	in	in	ADP
ajst-17392	3	2	the	the	DET
ajst-17392	3	3	improved	improved	ADJ
ajst-17392	3	4	a	a	DET
ajst-17392	3	5	*	*	ADJ
ajst-17392	3	6	algorithm	algorithm	NOUN
ajst-17392	3	7	,	,	PUNCT
ajst-17392	3	8	a	a	DET
ajst-17392	3	9	carefully	carefully	ADV
ajst-17392	3	10	normalized	normalize	VERB
ajst-17392	3	11	random	random	ADJ
ajst-17392	3	12	obstacle	obstacle	NOUN
ajst-17392	3	13	environment	environment	NOUN
ajst-17392	3	14	is	be	AUX
ajst-17392	3	15	used	use	VERB
ajst-17392	3	16	and	and	CCONJ
ajst-17392	3	17	the	the	DET
ajst-17392	3	18	search	search	NOUN
ajst-17392	3	19	process	process	NOUN
ajst-17392	3	20	is	be	AUX
ajst-17392	3	21	optimized	optimize	VERB
ajst-17392	3	22	by	by	ADP
ajst-17392	3	23	reducing	reduce	VERB
ajst-17392	3	24	the	the	DET
ajst-17392	3	25	search	search	NOUN
ajst-17392	3	26	direction	direction	NOUN
ajst-17392	3	27	and	and	CCONJ
ajst-17392	3	28	redundant	redundant	ADJ
ajst-17392	3	29	nodes	node	NOUN
ajst-17392	3	30	.	.	PUNCT
ajst-17392	4	1	meanwhile	meanwhile	ADV
ajst-17392	4	2	,	,	PUNCT
ajst-17392	4	3	the	the	DET
ajst-17392	4	4	evaluation	evaluation	NOUN
ajst-17392	4	5	function	function	NOUN
ajst-17392	4	6	is	be	AUX
ajst-17392	4	7	adjusted	adjust	VERB
ajst-17392	4	8	to	to	PART
ajst-17392	4	9	achieve	achieve	VERB
ajst-17392	4	10	the	the	DET
ajst-17392	4	11	optimal	optimal	ADJ
ajst-17392	4	12	global	global	ADJ
ajst-17392	4	13	design	design	NOUN
ajst-17392	4	14	solution	solution	NOUN
ajst-17392	4	15	,	,	PUNCT
ajst-17392	4	16	and	and	CCONJ
ajst-17392	4	17	path	path	NOUN
ajst-17392	4	18	optimization	optimization	NOUN
ajst-17392	4	19	and	and	CCONJ
ajst-17392	4	20	obstacle	obstacle	NOUN
ajst-17392	4	21	avoidance	avoidance	NOUN
ajst-17392	4	22	are	be	AUX
ajst-17392	4	23	performed	perform	VERB
ajst-17392	4	24	by	by	ADP
ajst-17392	4	25	the	the	DET
ajst-17392	4	26	dwa	dwa	PROPN
ajst-17392	4	27	algorithm	algorithm	NOUN
ajst-17392	4	28	.	.	PUNCT
ajst-17392	5	1	the	the	DET
ajst-17392	5	2	experimental	experimental	ADJ
ajst-17392	5	3	results	result	NOUN
ajst-17392	5	4	finally	finally	ADV
ajst-17392	5	5	show	show	VERB
ajst-17392	5	6	that	that	SCONJ
ajst-17392	5	7	when	when	SCONJ
ajst-17392	5	8	the	the	DET
ajst-17392	5	9	robot	robot	NOUN
ajst-17392	5	10	is	be	AUX
ajst-17392	5	11	in	in	ADP
ajst-17392	5	12	a	a	DET
ajst-17392	5	13	complex	complex	ADJ
ajst-17392	5	14	environment	environment	NOUN
ajst-17392	5	15	,	,	PUNCT
ajst-17392	5	16	the	the	DET
ajst-17392	5	17	fusion	fusion	NOUN
ajst-17392	5	18	algorithm	algorithm	NOUN
ajst-17392	5	19	can	can	AUX
ajst-17392	5	20	ensure	ensure	VERB
ajst-17392	5	21	the	the	DET
ajst-17392	5	22	completion	completion	NOUN
ajst-17392	5	23	of	of	ADP
ajst-17392	5	24	the	the	DET
ajst-17392	5	25	globally	globally	ADV
ajst-17392	5	26	optimal	optimal	ADJ
ajst-17392	5	27	route	route	NOUN
ajst-17392	5	28	while	while	SCONJ
ajst-17392	5	29	avoiding	avoid	VERB
ajst-17392	5	30	obstacles	obstacle	NOUN
ajst-17392	5	31	in	in	ADP
ajst-17392	5	32	a	a	DET
ajst-17392	5	33	timely	timely	ADJ
ajst-17392	5	34	and	and	CCONJ
ajst-17392	5	35	effective	effective	ADJ
ajst-17392	5	36	manner	manner	NOUN
ajst-17392	5	37	,	,	PUNCT
ajst-17392	5	38	which	which	PRON
ajst-17392	5	39	realizes	realize	VERB
ajst-17392	5	40	more	more	ADV
ajst-17392	5	41	efficient	efficient	ADJ
ajst-17392	5	42	path	path	NOUN
ajst-17392	5	43	planning	planning	NOUN
ajst-17392	5	44	.	.	PUNCT
ajst-17392	6	1	keywords	keyword	NOUN
ajst-17392	6	2	:	:	PUNCT
ajst-17392	6	3	mobile	mobile	ADJ
ajst-17392	6	4	robot	robot	NOUN
ajst-17392	6	5	;	;	PUNCT
ajst-17392	6	6	path	path	NOUN
ajst-17392	6	7	planning	planning	NOUN
ajst-17392	6	8	;	;	PUNCT
ajst-17392	6	9	improved	improve	VERB
ajst-17392	6	10	a	a	DET
ajst-17392	6	11	*	*	NOUN
ajst-17392	6	12	algorithm	algorithm	NOUN
ajst-17392	6	13	;	;	PUNCT
ajst-17392	6	14	dwa	dwa	PROPN
ajst-17392	6	15	algorithm	algorithm	PROPN
ajst-17392	6	16	;	;	PUNCT
ajst-17392	6	17	floyd	floyd	PROPN
ajst-17392	6	18	algorithm	algorithm	PROPN
ajst-17392	6	19	;	;	PUNCT
ajst-17392	6	20	algorithm	algorithm	NOUN
ajst-17392	6	21	fusion	fusion	NOUN
ajst-17392	6	22	.	.	PUNCT
ajst-17392	7	1	1	1	X
ajst-17392	7	2	.	.	X
ajst-17392	7	3	introduction	introduction	NOUN
ajst-17392	7	4	mobile	mobile	NOUN
ajst-17392	7	5	robots	robot	NOUN
ajst-17392	7	6	play	play	VERB
ajst-17392	7	7	a	a	DET
ajst-17392	7	8	key	key	ADJ
ajst-17392	7	9	role	role	NOUN
ajst-17392	7	10	in	in	ADP
ajst-17392	7	11	realizing	realize	VERB
ajst-17392	7	12	automation	automation	NOUN
ajst-17392	7	13	and	and	CCONJ
ajst-17392	7	14	smart	smart	ADJ
ajst-17392	7	15	manufacturing	manufacturing	NOUN
ajst-17392	7	16	as	as	ADP
ajst-17392	7	17	the	the	DET
ajst-17392	7	18	main	main	ADJ
ajst-17392	7	19	carrier	carrier	NOUN
ajst-17392	7	20	of	of	ADP
ajst-17392	7	21	objects	object	NOUN
ajst-17392	7	22	.	.	PUNCT
ajst-17392	8	1	in	in	ADP
ajst-17392	8	2	the	the	DET
ajst-17392	8	3	field	field	NOUN
ajst-17392	8	4	of	of	ADP
ajst-17392	8	5	robotics	robotic	NOUN
ajst-17392	8	6	,	,	PUNCT
ajst-17392	8	7	automated	automate	VERB
ajst-17392	8	8	guided	guide	VERB
ajst-17392	8	9	vehicles	vehicle	NOUN
ajst-17392	8	10	(	(	PUNCT
ajst-17392	8	11	agcs	agcs	ADJ
ajst-17392	8	12	)	)	PUNCT
ajst-17392	8	13	,	,	PUNCT
ajst-17392	8	14	also	also	ADV
ajst-17392	8	15	known	know	VERB
ajst-17392	8	16	as	as	ADP
ajst-17392	8	17	mobile	mobile	ADJ
ajst-17392	8	18	robots	robot	NOUN
ajst-17392	8	19	[	[	X
ajst-17392	8	20	1	1	NUM
ajst-17392	8	21	]	]	PUNCT
ajst-17392	8	22	,	,	PUNCT
ajst-17392	8	23	are	be	AUX
ajst-17392	8	24	guided	guide	VERB
ajst-17392	8	25	by	by	ADP
ajst-17392	8	26	various	various	ADJ
ajst-17392	8	27	sensor	sensor	NOUN
ajst-17392	8	28	devices	device	NOUN
ajst-17392	8	29	and	and	CCONJ
ajst-17392	8	30	automatically	automatically	ADV
ajst-17392	8	31	travel	travel	VERB
ajst-17392	8	32	to	to	ADP
ajst-17392	8	33	a	a	DET
ajst-17392	8	34	designated	designate	VERB
ajst-17392	8	35	end	end	NOUN
ajst-17392	8	36	point	point	NOUN
ajst-17392	8	37	without	without	ADP
ajst-17392	8	38	collision	collision	NOUN
ajst-17392	8	39	according	accord	VERB
ajst-17392	8	40	to	to	ADP
ajst-17392	8	41	a	a	DET
ajst-17392	8	42	pre	pre	ADJ
ajst-17392	8	43	-	-	ADJ
ajst-17392	8	44	designed	designed	ADJ
ajst-17392	8	45	and	and	CCONJ
ajst-17392	8	46	well	well	ADV
ajst-17392	8	47	-	-	PUNCT
ajst-17392	8	48	planned	plan	VERB
ajst-17392	8	49	path	path	NOUN
ajst-17392	8	50	.	.	PUNCT
ajst-17392	9	1	however	however	ADV
ajst-17392	9	2	,	,	PUNCT
ajst-17392	9	3	the	the	DET
ajst-17392	9	4	working	work	VERB
ajst-17392	9	5	scenarios	scenario	NOUN
ajst-17392	9	6	of	of	ADP
ajst-17392	9	7	mobile	mobile	ADJ
ajst-17392	9	8	robots	robot	NOUN
ajst-17392	9	9	in	in	ADP
ajst-17392	9	10	different	different	ADJ
ajst-17392	9	11	environments	environment	NOUN
ajst-17392	9	12	are	be	AUX
ajst-17392	9	13	very	very	ADV
ajst-17392	9	14	complex	complex	ADJ
ajst-17392	9	15	,	,	PUNCT
ajst-17392	9	16	and	and	CCONJ
ajst-17392	9	17	the	the	DET
ajst-17392	9	18	localization	localization	NOUN
ajst-17392	9	19	problem	problem	NOUN
ajst-17392	9	20	is	be	AUX
ajst-17392	9	21	a	a	DET
ajst-17392	9	22	challenge	challenge	NOUN
ajst-17392	9	23	,	,	PUNCT
ajst-17392	9	24	and	and	CCONJ
ajst-17392	9	25	there	there	PRON
ajst-17392	9	26	are	be	VERB
ajst-17392	9	27	usually	usually	ADV
ajst-17392	9	28	uncertain	uncertain	ADJ
ajst-17392	9	29	human	human	ADJ
ajst-17392	9	30	factors	factor	NOUN
ajst-17392	9	31	,	,	PUNCT
ajst-17392	9	32	which	which	PRON
ajst-17392	9	33	directly	directly	ADV
ajst-17392	9	34	affect	affect	VERB
ajst-17392	9	35	the	the	DET
ajst-17392	9	36	accuracy	accuracy	NOUN
ajst-17392	9	37	of	of	ADP
ajst-17392	9	38	the	the	DET
ajst-17392	9	39	travel	travel	NOUN
ajst-17392	9	40	route	route	NOUN
ajst-17392	9	41	,	,	PUNCT
ajst-17392	9	42	and	and	CCONJ
ajst-17392	9	43	thus	thus	ADV
ajst-17392	9	44	determine	determine	VERB
ajst-17392	9	45	whether	whether	SCONJ
ajst-17392	9	46	the	the	DET
ajst-17392	9	47	robot	robot	NOUN
ajst-17392	9	48	can	can	AUX
ajst-17392	9	49	successfully	successfully	ADV
ajst-17392	9	50	complete	complete	VERB
ajst-17392	9	51	the	the	DET
ajst-17392	9	52	designated	designate	VERB
ajst-17392	9	53	navigation	navigation	NOUN
ajst-17392	9	54	task	task	NOUN
ajst-17392	9	55	.	.	PUNCT
ajst-17392	10	1	in	in	ADP
ajst-17392	10	2	order	order	NOUN
ajst-17392	10	3	to	to	PART
ajst-17392	10	4	ensure	ensure	VERB
ajst-17392	10	5	that	that	SCONJ
ajst-17392	10	6	mobile	mobile	ADJ
ajst-17392	10	7	robots	robot	NOUN
ajst-17392	10	8	can	can	AUX
ajst-17392	10	9	successfully	successfully	ADV
ajst-17392	10	10	complete	complete	VERB
ajst-17392	10	11	preset	preset	ADJ
ajst-17392	10	12	tasks	task	NOUN
ajst-17392	10	13	and	and	CCONJ
ajst-17392	10	14	at	at	ADP
ajst-17392	10	15	the	the	DET
ajst-17392	10	16	same	same	ADJ
ajst-17392	10	17	time	time	NOUN
ajst-17392	10	18	satisfy	satisfy	VERB
ajst-17392	10	19	users	user	NOUN
ajst-17392	10	20	'	'	PART
ajst-17392	10	21	needs	need	NOUN
ajst-17392	10	22	for	for	ADP
ajst-17392	10	23	localization	localization	NOUN
ajst-17392	10	24	and	and	CCONJ
ajst-17392	10	25	navigation	navigation	NOUN
ajst-17392	10	26	accuracy	accuracy	NOUN
ajst-17392	10	27	,	,	PUNCT
ajst-17392	10	28	the	the	DET
ajst-17392	10	29	accuracy	accuracy	NOUN
ajst-17392	10	30	and	and	CCONJ
ajst-17392	10	31	robustness	robustness	NOUN
ajst-17392	10	32	of	of	ADP
ajst-17392	10	33	mobile	mobile	ADJ
ajst-17392	10	34	robots	robot	NOUN
ajst-17392	10	35	for	for	ADP
ajst-17392	10	36	path	path	NOUN
ajst-17392	10	37	planning	planning	NOUN
ajst-17392	10	38	in	in	ADP
ajst-17392	10	39	complex	complex	ADJ
ajst-17392	10	40	environments	environment	NOUN
ajst-17392	10	41	need	need	VERB
ajst-17392	10	42	to	to	PART
ajst-17392	10	43	be	be	AUX
ajst-17392	10	44	enhanced	enhance	VERB
ajst-17392	10	45	.	.	PUNCT
ajst-17392	11	1	the	the	DET
ajst-17392	11	2	navigation	navigation	NOUN
ajst-17392	11	3	process	process	NOUN
ajst-17392	11	4	of	of	ADP
ajst-17392	11	5	the	the	DET
ajst-17392	11	6	robot	robot	NOUN
ajst-17392	11	7	to	to	PART
ajst-17392	11	8	reach	reach	VERB
ajst-17392	11	9	the	the	DET
ajst-17392	11	10	target	target	NOUN
ajst-17392	11	11	position	position	NOUN
ajst-17392	11	12	from	from	ADP
ajst-17392	11	13	the	the	DET
ajst-17392	11	14	current	current	ADJ
ajst-17392	11	15	position	position	NOUN
ajst-17392	11	16	can	can	AUX
ajst-17392	11	17	be	be	AUX
ajst-17392	11	18	divided	divide	VERB
ajst-17392	11	19	into	into	ADP
ajst-17392	11	20	two	two	NUM
ajst-17392	11	21	parts	part	NOUN
ajst-17392	11	22	:	:	PUNCT
ajst-17392	11	23	global	global	ADJ
ajst-17392	11	24	path	path	NOUN
ajst-17392	11	25	planning	planning	PROPN
ajst-17392	11	26	and	and	CCONJ
ajst-17392	11	27	local	local	ADJ
ajst-17392	11	28	path	path	NOUN
ajst-17392	11	29	planning	planning	NOUN
ajst-17392	11	30	.	.	PUNCT
ajst-17392	12	1	global	global	ADJ
ajst-17392	12	2	path	path	PROPN
ajst-17392	12	3	planning	planning	NOUN
ajst-17392	12	4	refers	refer	VERB
ajst-17392	12	5	to	to	ADP
ajst-17392	12	6	planning	plan	VERB
ajst-17392	12	7	to	to	PART
ajst-17392	12	8	get	get	VERB
ajst-17392	12	9	the	the	DET
ajst-17392	12	10	optimal	optimal	ADJ
ajst-17392	12	11	or	or	CCONJ
ajst-17392	12	12	nearoptimal	nearoptimal	ADJ
ajst-17392	12	13	traveling	travel	VERB
ajst-17392	12	14	path	path	NOUN
ajst-17392	12	15	in	in	ADP
ajst-17392	12	16	the	the	DET
ajst-17392	12	17	whole	whole	ADJ
ajst-17392	12	18	environment	environment	NOUN
ajst-17392	12	19	,	,	PUNCT
ajst-17392	12	20	while	while	SCONJ
ajst-17392	12	21	local	local	ADJ
ajst-17392	12	22	path	path	NOUN
ajst-17392	12	23	planning	planning	NOUN
ajst-17392	12	24	is	be	AUX
ajst-17392	12	25	to	to	PART
ajst-17392	12	26	plan	plan	VERB
ajst-17392	12	27	to	to	PART
ajst-17392	12	28	get	get	VERB
ajst-17392	12	29	the	the	DET
ajst-17392	12	30	local	local	ADJ
ajst-17392	12	31	path	path	NOUN
ajst-17392	12	32	that	that	PRON
ajst-17392	12	33	can	can	AUX
ajst-17392	12	34	reasonably	reasonably	ADV
ajst-17392	12	35	avoid	avoid	VERB
ajst-17392	12	36	obstacles	obstacle	NOUN
ajst-17392	12	37	on	on	ADP
ajst-17392	12	38	the	the	DET
ajst-17392	12	39	basis	basis	NOUN
ajst-17392	12	40	of	of	ADP
ajst-17392	12	41	following	follow	VERB
ajst-17392	12	42	the	the	DET
ajst-17392	12	43	global	global	ADJ
ajst-17392	12	44	path	path	NOUN
ajst-17392	13	1	[	[	X
ajst-17392	13	2	2	2	NUM
ajst-17392	13	3	-	-	SYM
ajst-17392	13	4	4	4	NUM
ajst-17392	13	5	]	]	PUNCT
ajst-17392	13	6	.	.	PUNCT
ajst-17392	14	1	both	both	PRON
ajst-17392	14	2	global	global	ADJ
ajst-17392	14	3	path	path	NOUN
ajst-17392	14	4	planning	planning	NOUN
ajst-17392	14	5	and	and	CCONJ
ajst-17392	14	6	real	real	ADJ
ajst-17392	14	7	-	-	PUNCT
ajst-17392	14	8	time	time	NOUN
ajst-17392	14	9	obstacle	obstacle	NOUN
ajst-17392	14	10	avoidance	avoidance	NOUN
ajst-17392	14	11	are	be	AUX
ajst-17392	14	12	core	core	NOUN
ajst-17392	14	13	problems	problem	NOUN
ajst-17392	14	14	in	in	ADP
ajst-17392	14	15	mobile	mobile	ADJ
ajst-17392	14	16	robot	robot	NOUN
ajst-17392	14	17	navigation	navigation	NOUN
ajst-17392	14	18	[	[	X
ajst-17392	14	19	5	5	NUM
ajst-17392	14	20	-	-	SYM
ajst-17392	14	21	6	6	NUM
ajst-17392	14	22	]	]	PUNCT
ajst-17392	14	23	.	.	PUNCT
ajst-17392	15	1	in	in	ADP
ajst-17392	15	2	order	order	NOUN
ajst-17392	15	3	to	to	PART
ajst-17392	15	4	accomplish	accomplish	VERB
ajst-17392	15	5	the	the	DET
ajst-17392	15	6	mobile	mobile	NOUN
ajst-17392	15	7	robot	robot	NOUN
ajst-17392	15	8	can	can	AUX
ajst-17392	15	9	both	both	PRON
ajst-17392	15	10	ensure	ensure	VERB
ajst-17392	15	11	the	the	DET
ajst-17392	15	12	global	global	ADJ
ajst-17392	15	13	optimal	optimal	ADJ
ajst-17392	15	14	path	path	NOUN
ajst-17392	15	15	and	and	CCONJ
ajst-17392	15	16	have	have	VERB
ajst-17392	15	17	real	real	ADJ
ajst-17392	15	18	-	-	PUNCT
ajst-17392	15	19	time	time	NOUN
ajst-17392	15	20	obstacle	obstacle	NOUN
ajst-17392	15	21	avoidance	avoidance	NOUN
ajst-17392	15	22	ability	ability	NOUN
ajst-17392	15	23	,	,	PUNCT
ajst-17392	15	24	this	this	DET
ajst-17392	15	25	paper	paper	NOUN
ajst-17392	15	26	proposes	propose	VERB
ajst-17392	15	27	a	a	DET
ajst-17392	15	28	navigation	navigation	NOUN
ajst-17392	15	29	algorithm	algorithm	NOUN
ajst-17392	15	30	that	that	PRON
ajst-17392	15	31	integrates	integrate	VERB
ajst-17392	15	32	the	the	DET
ajst-17392	15	33	improved	improved	ADJ
ajst-17392	15	34	a	a	DET
ajst-17392	15	35	*	*	ADJ
ajst-17392	15	36	algorithm	algorithm	NOUN
ajst-17392	15	37	and	and	CCONJ
ajst-17392	15	38	dwa	dwa	PROPN
ajst-17392	15	39	algorithm	algorithm	NOUN
ajst-17392	15	40	[	[	X
ajst-17392	15	41	13	13	NUM
ajst-17392	15	42	]	]	PUNCT
ajst-17392	15	43	.	.	PUNCT
ajst-17392	16	1	the	the	DET
ajst-17392	16	2	innovations	innovation	NOUN
ajst-17392	16	3	of	of	ADP
ajst-17392	16	4	the	the	DET
ajst-17392	16	5	algorithm	algorithm	NOUN
ajst-17392	16	6	are	be	AUX
ajst-17392	16	7	as	as	SCONJ
ajst-17392	16	8	follows	follow	VERB
ajst-17392	16	9	:	:	PUNCT
ajst-17392	16	10	1	1	X
ajst-17392	16	11	)	)	PUNCT
ajst-17392	16	12	optimize	optimize	VERB
ajst-17392	16	13	the	the	DET
ajst-17392	16	14	cost	cost	NOUN
ajst-17392	16	15	function	function	NOUN
ajst-17392	16	16	of	of	ADP
ajst-17392	16	17	the	the	DET
ajst-17392	16	18	traditional	traditional	ADJ
ajst-17392	16	19	a	a	PRON
ajst-17392	16	20	*	*	ADJ
ajst-17392	16	21	algorithm	algorithm	NOUN
ajst-17392	16	22	to	to	PART
ajst-17392	16	23	increase	increase	VERB
ajst-17392	16	24	its	its	PRON
ajst-17392	16	25	ability	ability	NOUN
ajst-17392	16	26	to	to	PART
ajst-17392	16	27	adaptively	adaptively	ADV
ajst-17392	16	28	adjust	adjust	VERB
ajst-17392	16	29	the	the	DET
ajst-17392	16	30	attitude	attitude	NOUN
ajst-17392	16	31	;	;	PUNCT
ajst-17392	16	32	2	2	X
ajst-17392	16	33	)	)	PUNCT
ajst-17392	16	34	adopt	adopt	VERB
ajst-17392	16	35	the	the	DET
ajst-17392	16	36	key	key	ADJ
ajst-17392	16	37	point	point	NOUN
ajst-17392	16	38	selection	selection	NOUN
ajst-17392	16	39	method	method	NOUN
ajst-17392	16	40	to	to	PART
ajst-17392	16	41	solve	solve	VERB
ajst-17392	16	42	the	the	DET
ajst-17392	16	43	redundancy	redundancy	NOUN
ajst-17392	16	44	problems	problem	NOUN
ajst-17392	16	45	of	of	ADP
ajst-17392	16	46	the	the	DET
ajst-17392	16	47	co	co	NOUN
ajst-17392	16	48	-	-	NOUN
ajst-17392	16	49	linearities	linearity	NOUN
ajst-17392	16	50	of	of	ADP
ajst-17392	16	51	the	the	DET
ajst-17392	16	52	nodes	node	NOUN
ajst-17392	16	53	and	and	CCONJ
ajst-17392	16	54	the	the	DET
ajst-17392	16	55	turning	turning	NOUN
ajst-17392	16	56	points	point	NOUN
ajst-17392	16	57	,	,	PUNCT
ajst-17392	16	58	and	and	CCONJ
ajst-17392	16	59	only	only	ADV
ajst-17392	16	60	retain	retain	VERB
ajst-17392	16	61	the	the	DET
ajst-17392	16	62	key	key	ADJ
ajst-17392	16	63	nodes	node	NOUN
ajst-17392	16	64	in	in	ADP
ajst-17392	16	65	the	the	DET
ajst-17392	16	66	path	path	NOUN
ajst-17392	16	67	;	;	PUNCT
ajst-17392	16	68	3	3	X
ajst-17392	16	69	)	)	PUNCT
ajst-17392	16	70	construct	construct	VERB
ajst-17392	16	71	the	the	DET
ajst-17392	16	72	evaluation	evaluation	NOUN
ajst-17392	16	73	function	function	NOUN
ajst-17392	16	74	combining	combine	VERB
ajst-17392	16	75	the	the	DET
ajst-17392	16	76	information	information	NOUN
ajst-17392	16	77	of	of	ADP
ajst-17392	16	78	the	the	DET
ajst-17392	16	79	key	key	ADJ
ajst-17392	16	80	points	point	NOUN
ajst-17392	16	81	and	and	CCONJ
ajst-17392	16	82	apply	apply	VERB
ajst-17392	16	83	the	the	DET
ajst-17392	16	84	dwa	dwa	PROPN
ajst-17392	16	85	algorithm	algorithm	NOUN
ajst-17392	16	86	,	,	PUNCT
ajst-17392	16	87	so	so	SCONJ
ajst-17392	16	88	that	that	SCONJ
ajst-17392	16	89	the	the	DET
ajst-17392	16	90	local	local	ADJ
ajst-17392	16	91	path	path	NOUN
ajst-17392	16	92	planning	planning	NOUN
ajst-17392	16	93	can	can	AUX
ajst-17392	16	94	be	be	AUX
ajst-17392	16	95	carried	carry	VERB
ajst-17392	16	96	out	out	ADP
ajst-17392	16	97	adapting	adapt	VERB
ajst-17392	16	98	to	to	ADP
ajst-17392	16	99	the	the	DET
ajst-17392	16	100	global	global	ADJ
ajst-17392	16	101	path	path	NOUN
ajst-17392	16	102	contour	contour	NOUN
ajst-17392	16	103	,	,	PUNCT
ajst-17392	16	104	thus	thus	ADV
ajst-17392	16	105	making	make	VERB
ajst-17392	16	106	the	the	DET
ajst-17392	16	107	the	the	DET
ajst-17392	16	108	final	final	ADJ
ajst-17392	16	109	planned	plan	VERB
ajst-17392	16	110	path	path	NOUN
ajst-17392	16	111	has	have	VERB
ajst-17392	16	112	higher	high	ADJ
ajst-17392	16	113	smoothness	smoothness	NOUN
ajst-17392	16	114	and	and	CCONJ
ajst-17392	16	115	has	have	VERB
ajst-17392	16	116	the	the	DET
ajst-17392	16	117	ability	ability	NOUN
ajst-17392	16	118	to	to	PART
ajst-17392	16	119	avoid	avoid	VERB
ajst-17392	16	120	obstacles	obstacle	NOUN
ajst-17392	16	121	in	in	ADP
ajst-17392	16	122	real	real	ADJ
ajst-17392	16	123	time	time	NOUN
ajst-17392	16	124	.	.	PUNCT
ajst-17392	17	1	2	2	X
ajst-17392	17	2	.	.	X
ajst-17392	17	3	improvement	improvement	NOUN
ajst-17392	17	4	of	of	ADP
ajst-17392	17	5	the	the	DET
ajst-17392	17	6	a	a	PROPN
ajst-17392	17	7	*	*	ADJ
ajst-17392	17	8	algorithm	algorithm	NOUN
ajst-17392	17	9	2.1	2.1	NUM
ajst-17392	17	10	.	.	PUNCT
ajst-17392	18	1	traditional	traditional	ADJ
ajst-17392	18	2	a	a	DET
ajst-17392	18	3	*	*	ADJ
ajst-17392	18	4	algorithm	algorithm	NOUN
ajst-17392	18	5	the	the	DET
ajst-17392	18	6	a	a	PROPN
ajst-17392	18	7	*	*	ADJ
ajst-17392	18	8	algorithm	algorithm	NOUN
ajst-17392	18	9	is	be	AUX
ajst-17392	18	10	a	a	DET
ajst-17392	18	11	commonly	commonly	ADV
ajst-17392	18	12	used	use	VERB
ajst-17392	18	13	heuristic	heuristic	ADJ
ajst-17392	18	14	search	search	NOUN
ajst-17392	18	15	algorithm	algorithm	NOUN
ajst-17392	18	16	for	for	ADP
ajst-17392	18	17	solving	solve	VERB
ajst-17392	18	18	shortest	short	ADJ
ajst-17392	18	19	path	path	NOUN
ajst-17392	18	20	problems	problem	NOUN
ajst-17392	18	21	and	and	CCONJ
ajst-17392	18	22	graph	graph	VERB
ajst-17392	18	23	search	search	NOUN
ajst-17392	18	24	problems	problem	NOUN
ajst-17392	18	25	.	.	PUNCT
ajst-17392	19	1	it	it	PRON
ajst-17392	19	2	finds	find	VERB
ajst-17392	19	3	the	the	DET
ajst-17392	19	4	optimal	optimal	ADJ
ajst-17392	19	5	path	path	NOUN
ajst-17392	19	6	from	from	ADP
ajst-17392	19	7	the	the	DET
ajst-17392	19	8	starting	starting	NOUN
ajst-17392	19	9	point	point	NOUN
ajst-17392	19	10	to	to	ADP
ajst-17392	19	11	the	the	DET
ajst-17392	19	12	goal	goal	NOUN
ajst-17392	19	13	node	node	NOUN
ajst-17392	19	14	in	in	ADP
ajst-17392	19	15	a	a	DET
ajst-17392	19	16	graph	graph	NOUN
ajst-17392	19	17	where	where	SCONJ
ajst-17392	19	18	the	the	DET
ajst-17392	19	19	number	number	NOUN
ajst-17392	19	20	of	of	ADP
ajst-17392	19	21	paths	path	NOUN
ajst-17392	19	22	is	be	AUX
ajst-17392	19	23	minimized	minimize	VERB
ajst-17392	19	24	,	,	PUNCT
ajst-17392	19	25	i.e.	i.e.	X
ajst-17392	19	26	,	,	PUNCT
ajst-17392	19	27	the	the	DET
ajst-17392	19	28	total	total	ADJ
ajst-17392	19	29	cost	cost	NOUN
ajst-17392	19	30	is	be	AUX
ajst-17392	19	31	minimized	minimize	VERB
ajst-17392	19	32	.	.	PUNCT
ajst-17392	20	1	the	the	DET
ajst-17392	20	2	a	a	PROPN
ajst-17392	20	3	*	*	PROPN
ajst-17392	20	4	algorithm	algorithm	NOUN
ajst-17392	20	5	uses	use	VERB
ajst-17392	20	6	two	two	NUM
ajst-17392	20	7	evaluation	evaluation	NOUN
ajst-17392	20	8	functions	function	NOUN
ajst-17392	20	9	to	to	PART
ajst-17392	20	10	select	select	VERB
ajst-17392	20	11	the	the	DET
ajst-17392	20	12	next	next	ADJ
ajst-17392	20	13	node	node	NOUN
ajst-17392	20	14	for	for	ADP
ajst-17392	20	15	expansion	expansion	NOUN
ajst-17392	20	16	:	:	PUNCT
ajst-17392	20	17	the	the	DET
ajst-17392	20	18	actual	actual	ADJ
ajst-17392	20	19	path	path	NOUN
ajst-17392	20	20	cost	cost	NOUN
ajst-17392	20	21	(	(	PUNCT
ajst-17392	20	22	g	g	NOUN
ajst-17392	20	23	value	value	NOUN
ajst-17392	20	24	)	)	PUNCT
ajst-17392	20	25	and	and	CCONJ
ajst-17392	20	26	the	the	DET
ajst-17392	20	27	heuristically	heuristically	ADV
ajst-17392	20	28	estimated	estimate	VERB
ajst-17392	20	29	distance	distance	NOUN
ajst-17392	20	30	(	(	PUNCT
ajst-17392	20	31	h	h	NOUN
ajst-17392	20	32	value	value	NOUN
ajst-17392	20	33	)	)	PUNCT
ajst-17392	20	34	.	.	PUNCT
ajst-17392	21	1	it	it	PRON
ajst-17392	21	2	selects	select	VERB
ajst-17392	21	3	the	the	DET
ajst-17392	21	4	next	next	ADJ
ajst-17392	21	5	expansion	expansion	NOUN
ajst-17392	21	6	node	node	NOUN
ajst-17392	21	7	for	for	ADP
ajst-17392	21	8	the	the	DET
ajst-17392	21	9	current	current	ADJ
ajst-17392	21	10	node	node	NOUN
ajst-17392	21	11	by	by	ADP
ajst-17392	21	12	adding	add	VERB
ajst-17392	21	13	these	these	DET
ajst-17392	21	14	two	two	NUM
ajst-17392	21	15	values	value	NOUN
ajst-17392	21	16	,	,	PUNCT
ajst-17392	21	17	i.e.	i.e.	X
ajst-17392	21	18	,	,	PUNCT
ajst-17392	21	19	f(n	f(n	PROPN
ajst-17392	21	20	)	)	PUNCT
ajst-17392	22	1	=	=	PUNCT
ajst-17392	22	2	g(n	g(n	PROPN
ajst-17392	22	3	)	)	PUNCT
ajst-17392	23	1	+	+	CCONJ
ajst-17392	24	1	h(n	h(n	PROPN
ajst-17392	24	2	)	)	PUNCT
ajst-17392	24	3	.	.	PUNCT
ajst-17392	25	1	where	where	SCONJ
ajst-17392	25	2	g(n	g(n	PROPN
ajst-17392	25	3	)	)	PUNCT
ajst-17392	25	4	represents	represent	VERB
ajst-17392	25	5	the	the	DET
ajst-17392	25	6	actual	actual	ADJ
ajst-17392	25	7	path	path	NOUN
ajst-17392	25	8	cost	cost	NOUN
ajst-17392	25	9	from	from	ADP
ajst-17392	25	10	the	the	DET
ajst-17392	25	11	starting	starting	NOUN
ajst-17392	25	12	point	point	NOUN
ajst-17392	25	13	to	to	ADP
ajst-17392	25	14	the	the	DET
ajst-17392	25	15	current	current	ADJ
ajst-17392	25	16	node	node	NOUN
ajst-17392	25	17	and	and	CCONJ
ajst-17392	25	18	h(n	h(n	PROPN
ajst-17392	25	19	)	)	PUNCT
ajst-17392	25	20	is	be	AUX
ajst-17392	25	21	the	the	DET
ajst-17392	25	22	heuristically	heuristically	ADV
ajst-17392	25	23	estimated	estimate	VERB
ajst-17392	25	24	distance	distance	NOUN
ajst-17392	25	25	from	from	ADP
ajst-17392	25	26	the	the	DET
ajst-17392	25	27	current	current	ADJ
ajst-17392	25	28	node	node	NOUN
ajst-17392	25	29	to	to	ADP
ajst-17392	25	30	the	the	DET
ajst-17392	25	31	target	target	NOUN
ajst-17392	25	32	node	node	NOUN
ajst-17392	25	33	.	.	PUNCT
ajst-17392	26	1	2.2	2.2	NUM
ajst-17392	26	2	.	.	PUNCT
ajst-17392	26	3	optimize	optimize	NOUN
ajst-17392	26	4	search	search	NOUN
ajst-17392	26	5	point	point	NOUN
ajst-17392	26	6	selection	selection	NOUN
ajst-17392	26	7	traditional	traditional	ADJ
ajst-17392	26	8	a	a	PRON
ajst-17392	26	9	*	*	PUNCT
ajst-17392	26	10	uses	use	VERB
ajst-17392	26	11	eight	eight	NUM
ajst-17392	26	12	directions	direction	NOUN
ajst-17392	26	13	of	of	ADP
ajst-17392	26	14	search	search	NOUN
ajst-17392	26	15	,	,	PUNCT
ajst-17392	26	16	including	include	VERB
ajst-17392	26	17	up	up	ADV
ajst-17392	26	18	,	,	PUNCT
ajst-17392	26	19	down	down	ADV
ajst-17392	26	20	,	,	PUNCT
ajst-17392	26	21	left	leave	VERB
ajst-17392	26	22	,	,	PUNCT
ajst-17392	26	23	right	right	INTJ
ajst-17392	26	24	,	,	PUNCT
ajst-17392	26	25	top	top	ADJ
ajst-17392	26	26	left	left	ADJ
ajst-17392	26	27	,	,	PUNCT
ajst-17392	26	28	bottom	bottom	NOUN
ajst-17392	26	29	left	left	ADJ
ajst-17392	26	30	,	,	PUNCT
ajst-17392	26	31	top	top	ADJ
ajst-17392	26	32	right	right	NOUN
ajst-17392	26	33	and	and	CCONJ
ajst-17392	26	34	bottom	bottom	ADJ
ajst-17392	27	1	right	right	NOUN
ajst-17392	28	1	[	[	X
ajst-17392	28	2	7	7	NUM
ajst-17392	28	3	-	-	SYM
ajst-17392	28	4	8	8	NUM
ajst-17392	28	5	]	]	PUNCT
ajst-17392	28	6	.	.	PUNCT
ajst-17392	29	1	in	in	ADP
ajst-17392	29	2	this	this	DET
ajst-17392	29	3	paper	paper	NOUN
ajst-17392	29	4	,	,	PUNCT
ajst-17392	29	5	the	the	DET
ajst-17392	29	6	search	search	NOUN
ajst-17392	29	7	direction	direction	NOUN
ajst-17392	29	8	is	be	AUX
ajst-17392	29	9	reduced	reduce	VERB
ajst-17392	29	10	to	to	ADP
ajst-17392	29	11	five	five	NUM
ajst-17392	29	12	directions	direction	NOUN
ajst-17392	29	13	,	,	PUNCT
ajst-17392	29	14	which	which	PRON
ajst-17392	29	15	reduces	reduce	VERB
ajst-17392	29	16	the	the	DET
ajst-17392	29	17	computational	computational	ADJ
ajst-17392	29	18	cost	cost	NOUN
ajst-17392	29	19	and	and	CCONJ
ajst-17392	29	20	storage	storage	NOUN
ajst-17392	29	21	space	space	NOUN
ajst-17392	29	22	,	,	PUNCT
ajst-17392	29	23	and	and	CCONJ
ajst-17392	29	24	can	can	AUX
ajst-17392	29	25	effectively	effectively	ADV
ajst-17392	29	26	improve	improve	VERB
ajst-17392	29	27	the	the	DET
ajst-17392	29	28	search	search	NOUN
ajst-17392	29	29	direction	direction	NOUN
ajst-17392	29	30	is	be	AUX
ajst-17392	29	31	not	not	PART
ajst-17392	29	32	limited	limit	VERB
ajst-17392	29	33	too	too	ADV
ajst-17392	29	34	much	much	ADJ
ajst-17392	29	35	.	.	PUNCT
ajst-17392	30	1	the	the	DET
ajst-17392	30	2	angle	angle	NOUN
ajst-17392	30	3	between	between	ADP
ajst-17392	30	4	the	the	DET
ajst-17392	30	5	line	line	NOUN
ajst-17392	30	6	between	between	ADP
ajst-17392	30	7	the	the	DET
ajst-17392	30	8	target	target	NOUN
ajst-17392	30	9	point	point	NOUN
ajst-17392	30	10	and	and	CCONJ
ajst-17392	30	11	the	the	DET
ajst-17392	30	12	current	current	ADJ
ajst-17392	30	13	point	point	NOUN
ajst-17392	30	14	and	and	CCONJ
ajst-17392	30	15	the	the	DET
ajst-17392	30	16	vertical	vertical	ADJ
ajst-17392	30	17	positive	positive	ADJ
ajst-17392	30	18	direction	direction	NOUN
ajst-17392	30	19	(	(	PUNCT
ajst-17392	30	20	y	y	NOUN
ajst-17392	30	21	)	)	PUNCT
ajst-17392	30	22	axis	axis	NOUN
ajst-17392	30	23	is	be	AUX
ajst-17392	30	24	set	set	VERB
ajst-17392	30	25	to	to	ADP
ajst-17392	30	26	β	β	NOUN
ajst-17392	30	27	.	.	PUNCT
ajst-17392	31	1	when	when	SCONJ
ajst-17392	31	2	the	the	DET
ajst-17392	31	3	search	search	NOUN
ajst-17392	31	4	is	be	AUX
ajst-17392	31	5	reduced	reduce	VERB
ajst-17392	31	6	to	to	ADP
ajst-17392	31	7	three	three	NUM
ajst-17392	31	8	directions	direction	NOUN
ajst-17392	31	9	,	,	PUNCT
ajst-17392	31	10	the	the	DET
ajst-17392	31	11	angle	angle	NOUN
ajst-17392	31	12	between	between	ADP
ajst-17392	31	13	β	β	PROPN
ajst-17392	31	14	and	and	CCONJ
ajst-17392	31	15	the	the	DET
ajst-17392	31	16	y	y	PROPN
ajst-17392	31	17	axis	axis	NOUN
ajst-17392	31	18	will	will	AUX
ajst-17392	31	19	be	be	AUX
ajst-17392	31	20	expanded	expand	VERB
ajst-17392	31	21	to	to	ADP
ajst-17392	31	22	twice	twice	ADV
ajst-17392	31	23	as	as	ADV
ajst-17392	31	24	much	much	ADJ
ajst-17392	31	25	as	as	ADP
ajst-17392	31	26	the	the	DET
ajst-17392	31	27	previous	previous	ADJ
ajst-17392	31	28	one	one	NUM
ajst-17392	31	29	of	of	ADP
ajst-17392	31	30	about	about	ADV
ajst-17392	31	31	60	60	NUM
ajst-17392	31	32	°	°	NOUN
ajst-17392	31	33	,	,	PUNCT
ajst-17392	31	34	so	so	SCONJ
ajst-17392	31	35	as	as	SCONJ
ajst-17392	31	36	to	to	PART
ajst-17392	31	37	reduce	reduce	VERB
ajst-17392	31	38	the	the	DET
ajst-17392	31	39	number	number	NOUN
ajst-17392	31	40	of	of	ADP
ajst-17392	31	41	search	search	NOUN
ajst-17392	31	42	nodes	node	NOUN
ajst-17392	31	43	and	and	CCONJ
ajst-17392	31	44	improve	improve	VERB
ajst-17392	31	45	the	the	DET
ajst-17392	31	46	computational	computational	ADJ
ajst-17392	31	47	efficiency	efficiency	NOUN
ajst-17392	31	48	.	.	PUNCT
ajst-17392	32	1	2.3	2.3	NUM
ajst-17392	32	2	.	.	X
ajst-17392	32	3	optimizing	optimize	VERB
ajst-17392	32	4	search	search	NOUN
ajst-17392	32	5	nodes	node	NOUN
ajst-17392	32	6	the	the	DET
ajst-17392	32	7	following	follow	VERB
ajst-17392	32	8	are	be	AUX
ajst-17392	32	9	the	the	DET
ajst-17392	32	10	specific	specific	ADJ
ajst-17392	32	11	steps	step	NOUN
ajst-17392	32	12	to	to	PART
ajst-17392	32	13	implement	implement	VERB
ajst-17392	32	14	the	the	DET
ajst-17392	32	15	key	key	ADJ
ajst-17392	32	16	point	point	NOUN
ajst-17392	32	17	selection	selection	NOUN
ajst-17392	32	18	strategy	strategy	NOUN
ajst-17392	32	19	:	:	PUNCT
ajst-17392	32	20	78	78	NUM
ajst-17392	32	21	1	1	NUM
ajst-17392	32	22	.	.	PUNCT
ajst-17392	32	23	set	set	VERB
ajst-17392	32	24	the	the	DET
ajst-17392	32	25	set	set	NOUN
ajst-17392	32	26	of	of	ADP
ajst-17392	32	27	path	path	NOUN
ajst-17392	32	28	nodes	nod	VERB
ajst-17392	32	29	p={p1,p2,p3	p={p1,p2,p3	PROPN
ajst-17392	32	30	,	,	PUNCT
ajst-17392	32	31	....	....	PUNCT
ajst-17392	32	32	,	,	PUNCT
ajst-17392	32	33	pn	pn	PROPN
ajst-17392	32	34	}	}	PUNCT
ajst-17392	32	35	,	,	PUNCT
ajst-17392	32	36	where	where	SCONJ
ajst-17392	32	37	p1	p1	PROPN
ajst-17392	32	38	denotes	denote	VERB
ajst-17392	32	39	the	the	DET
ajst-17392	32	40	start	start	NOUN
ajst-17392	32	41	point	point	NOUN
ajst-17392	32	42	of	of	ADP
ajst-17392	32	43	the	the	DET
ajst-17392	32	44	path	path	NOUN
ajst-17392	32	45	and	and	CCONJ
ajst-17392	32	46	pn	pn	PROPN
ajst-17392	32	47	denotes	denote	VERB
ajst-17392	32	48	the	the	DET
ajst-17392	32	49	goal	goal	NOUN
ajst-17392	32	50	point	point	NOUN
ajst-17392	32	51	of	of	ADP
ajst-17392	32	52	the	the	DET
ajst-17392	32	53	path	path	NOUN
ajst-17392	32	54	,	,	PUNCT
ajst-17392	32	55	and	and	CCONJ
ajst-17392	32	56	the	the	DET
ajst-17392	32	57	coordinate	coordinate	ADJ
ajst-17392	32	58	information	information	NOUN
ajst-17392	32	59	of	of	ADP
ajst-17392	32	60	each	each	DET
ajst-17392	32	61	node	node	NOUN
ajst-17392	32	62	is	be	AUX
ajst-17392	32	63	known	know	VERB
ajst-17392	32	64	.	.	PUNCT
ajst-17392	33	1	2	2	X
ajst-17392	33	2	.	.	X
ajst-17392	33	3	starting	start	VERB
ajst-17392	33	4	from	from	ADP
ajst-17392	33	5	p1	p1	NOUN
ajst-17392	33	6	,	,	PUNCT
ajst-17392	33	7	solve	solve	VERB
ajst-17392	33	8	for	for	ADP
ajst-17392	33	9	the	the	DET
ajst-17392	33	10	vector	vector	NOUN
ajst-17392	33	11	pp1	pp1	NOUN
ajst-17392	33	12	and	and	CCONJ
ajst-17392	33	13	the	the	DET
ajst-17392	33	14	vector	vector	PROPN
ajst-17392	33	15	pp2	pp2	PROPN
ajst-17392	33	16	,	,	PUNCT
ajst-17392	33	17	and	and	CCONJ
ajst-17392	33	18	calculate	calculate	VERB
ajst-17392	33	19	the	the	DET
ajst-17392	33	20	magnitude	magnitude	NOUN
ajst-17392	33	21	of	of	ADP
ajst-17392	33	22	the	the	DET
ajst-17392	33	23	angle	angle	NOUN
ajst-17392	33	24	between	between	ADP
ajst-17392	33	25	the	the	DET
ajst-17392	33	26	two	two	NUM
ajst-17392	33	27	vectors	vector	NOUN
ajst-17392	33	28	3	3	NUM
ajst-17392	33	29	.	.	PUNCT
ajst-17392	33	30	categorize	categorize	VERB
ajst-17392	33	31	them	they	PRON
ajst-17392	33	32	according	accord	VERB
ajst-17392	33	33	to	to	ADP
ajst-17392	33	34	the	the	DET
ajst-17392	33	35	size	size	NOUN
ajst-17392	33	36	of	of	ADP
ajst-17392	33	37	the	the	DET
ajst-17392	33	38	clamping	clamp	VERB
ajst-17392	33	39	angle	angle	NOUN
ajst-17392	33	40	:	:	PUNCT
ajst-17392	33	41	a	a	X
ajst-17392	33	42	)	)	PUNCT
ajst-17392	33	43	if	if	SCONJ
ajst-17392	33	44	the	the	DET
ajst-17392	33	45	magnitude	magnitude	NOUN
ajst-17392	33	46	of	of	ADP
ajst-17392	33	47	the	the	DET
ajst-17392	33	48	angle	angle	NOUN
ajst-17392	33	49	is	be	AUX
ajst-17392	33	50	zero	zero	NUM
ajst-17392	33	51	,	,	PUNCT
ajst-17392	33	52	i.e.	i.e.	X
ajst-17392	33	53	,	,	PUNCT
ajst-17392	33	54	the	the	DET
ajst-17392	33	55	angle	angle	NOUN
ajst-17392	33	56	is	be	AUX
ajst-17392	33	57	a	a	DET
ajst-17392	33	58	straight	straight	ADJ
ajst-17392	33	59	line	line	NOUN
ajst-17392	33	60	,	,	PUNCT
ajst-17392	33	61	indicating	indicate	VERB
ajst-17392	33	62	that	that	SCONJ
ajst-17392	33	63	the	the	DET
ajst-17392	33	64	three	three	NUM
ajst-17392	33	65	path	path	NOUN
ajst-17392	33	66	nodes	node	NOUN
ajst-17392	33	67	p1	p1	NOUN
ajst-17392	33	68	,	,	PUNCT
ajst-17392	33	69	p2	p2	NOUN
ajst-17392	33	70	,	,	PUNCT
ajst-17392	33	71	and	and	CCONJ
ajst-17392	33	72	p3	p3	PROPN
ajst-17392	33	73	are	be	AUX
ajst-17392	33	74	on	on	ADP
ajst-17392	33	75	the	the	DET
ajst-17392	33	76	same	same	ADJ
ajst-17392	33	77	straight	straight	ADJ
ajst-17392	33	78	line	line	NOUN
ajst-17392	33	79	,	,	PUNCT
ajst-17392	33	80	then	then	ADV
ajst-17392	33	81	p2	p2	PROPN
ajst-17392	33	82	is	be	AUX
ajst-17392	33	83	a	a	DET
ajst-17392	33	84	redundant	redundant	ADJ
ajst-17392	33	85	colocated	colocate	VERB
ajst-17392	33	86	node	node	NOUN
ajst-17392	33	87	and	and	CCONJ
ajst-17392	33	88	needs	need	VERB
ajst-17392	33	89	to	to	PART
ajst-17392	33	90	be	be	AUX
ajst-17392	33	91	eliminated	eliminate	VERB
ajst-17392	33	92	b	b	X
ajst-17392	33	93	)	)	PUNCT
ajst-17392	33	94	if	if	SCONJ
ajst-17392	33	95	the	the	DET
ajst-17392	33	96	size	size	NOUN
ajst-17392	33	97	of	of	ADP
ajst-17392	33	98	the	the	DET
ajst-17392	33	99	angle	angle	NOUN
ajst-17392	33	100	is	be	AUX
ajst-17392	33	101	not	not	PART
ajst-17392	33	102	zero	zero	NUM
ajst-17392	33	103	,	,	PUNCT
ajst-17392	33	104	i.e.	i.e.	X
ajst-17392	33	105	,	,	PUNCT
ajst-17392	33	106	the	the	DET
ajst-17392	33	107	three	three	NUM
ajst-17392	33	108	path	path	NOUN
ajst-17392	33	109	nodes	node	NOUN
ajst-17392	33	110	p1	p1	NOUN
ajst-17392	33	111	,	,	PUNCT
ajst-17392	33	112	p2	p2	NOUN
ajst-17392	33	113	,	,	PUNCT
ajst-17392	33	114	and	and	CCONJ
ajst-17392	33	115	p3	p3	NOUN
ajst-17392	33	116	are	be	AUX
ajst-17392	33	117	not	not	PART
ajst-17392	33	118	in	in	ADP
ajst-17392	33	119	the	the	DET
ajst-17392	33	120	same	same	ADJ
ajst-17392	33	121	straight	straight	ADJ
ajst-17392	33	122	line	line	NOUN
ajst-17392	33	123	,	,	PUNCT
ajst-17392	33	124	continue	continue	VERB
ajst-17392	33	125	the	the	DET
ajst-17392	33	126	process	process	NOUN
ajst-17392	33	127	to	to	ADP
ajst-17392	33	128	the	the	DET
ajst-17392	33	129	next	next	ADJ
ajst-17392	33	130	step	step	NOUN
ajst-17392	33	131	.	.	PUNCT
ajst-17392	34	1	4	4	X
ajst-17392	34	2	.	.	X
ajst-17392	34	3	solve	solve	VERB
ajst-17392	34	4	the	the	DET
ajst-17392	34	5	line	line	NOUN
ajst-17392	34	6	segment	segment	NOUN
ajst-17392	34	7	equation	equation	NOUN
ajst-17392	34	8	l(p1,p3	l(p1,p3	NOUN
ajst-17392	34	9	)	)	PUNCT
ajst-17392	34	10	to	to	PART
ajst-17392	34	11	represent	represent	VERB
ajst-17392	34	12	the	the	DET
ajst-17392	34	13	line	line	NOUN
ajst-17392	34	14	segment	segment	NOUN
ajst-17392	34	15	from	from	ADP
ajst-17392	34	16	path	path	NOUN
ajst-17392	34	17	segment	segment	NOUN
ajst-17392	34	18	p1	p1	PROPN
ajst-17392	34	19	to	to	ADP
ajst-17392	34	20	p3	p3	PROPN
ajst-17392	34	21	.	.	PUNCT
ajst-17392	35	1	and	and	CCONJ
ajst-17392	35	2	determine	determine	VERB
ajst-17392	35	3	whether	whether	SCONJ
ajst-17392	35	4	or	or	CCONJ
ajst-17392	35	5	not	not	PART
ajst-17392	35	6	there	there	PRON
ajst-17392	35	7	is	be	VERB
ajst-17392	35	8	an	an	DET
ajst-17392	35	9	obstacle	obstacle	NOUN
ajst-17392	35	10	within	within	ADP
ajst-17392	35	11	a	a	DET
ajst-17392	35	12	preset	preset	ADJ
ajst-17392	35	13	safe	safe	ADJ
ajst-17392	35	14	distance	distance	NOUN
ajst-17392	35	15	of	of	ADP
ajst-17392	35	16	that	that	DET
ajst-17392	35	17	line	line	NOUN
ajst-17392	35	18	segment	segment	NOUN
ajst-17392	35	19	.	.	PUNCT
ajst-17392	36	1	5	5	X
ajst-17392	36	2	.	.	X
ajst-17392	36	3	processing	processing	NOUN
ajst-17392	36	4	based	base	VERB
ajst-17392	36	5	on	on	ADP
ajst-17392	36	6	judgment	judgment	NOUN
ajst-17392	36	7	:	:	PUNCT
ajst-17392	36	8	a	a	X
ajst-17392	36	9	)	)	PUNCT
ajst-17392	36	10	if	if	SCONJ
ajst-17392	36	11	there	there	PRON
ajst-17392	36	12	is	be	VERB
ajst-17392	36	13	no	no	DET
ajst-17392	36	14	obstacle	obstacle	NOUN
ajst-17392	36	15	within	within	ADP
ajst-17392	36	16	a	a	DET
ajst-17392	36	17	safe	safe	ADJ
ajst-17392	36	18	distance	distance	NOUN
ajst-17392	36	19	,	,	PUNCT
ajst-17392	36	20	p2	p2	PROPN
ajst-17392	36	21	is	be	AUX
ajst-17392	36	22	a	a	DET
ajst-17392	36	23	redundant	redundant	ADJ
ajst-17392	36	24	turning	turning	NOUN
ajst-17392	36	25	point	point	NOUN
ajst-17392	36	26	,	,	PUNCT
ajst-17392	36	27	which	which	PRON
ajst-17392	36	28	is	be	AUX
ajst-17392	36	29	considered	consider	VERB
ajst-17392	36	30	to	to	PART
ajst-17392	36	31	be	be	AUX
ajst-17392	36	32	on	on	ADP
ajst-17392	36	33	a	a	DET
ajst-17392	36	34	straight	straight	ADJ
ajst-17392	36	35	line	line	NOUN
ajst-17392	36	36	segment	segment	NOUN
ajst-17392	36	37	and	and	CCONJ
ajst-17392	36	38	does	do	AUX
ajst-17392	36	39	not	not	PART
ajst-17392	36	40	affect	affect	VERB
ajst-17392	36	41	path	path	NOUN
ajst-17392	36	42	planning	planning	NOUN
ajst-17392	36	43	,	,	PUNCT
ajst-17392	36	44	and	and	CCONJ
ajst-17392	36	45	therefore	therefore	ADV
ajst-17392	36	46	needs	need	VERB
ajst-17392	36	47	to	to	PART
ajst-17392	36	48	be	be	AUX
ajst-17392	36	49	eliminated	eliminate	VERB
ajst-17392	36	50	.	.	PUNCT
ajst-17392	37	1	b	b	X
ajst-17392	37	2	)	)	PUNCT
ajst-17392	37	3	if	if	SCONJ
ajst-17392	37	4	there	there	PRON
ajst-17392	37	5	is	be	VERB
ajst-17392	37	6	an	an	DET
ajst-17392	37	7	obstacle	obstacle	NOUN
ajst-17392	37	8	within	within	ADP
ajst-17392	37	9	a	a	DET
ajst-17392	37	10	safe	safe	ADJ
ajst-17392	37	11	distance	distance	NOUN
ajst-17392	37	12	,	,	PUNCT
ajst-17392	37	13	p2	p2	PROPN
ajst-17392	37	14	is	be	AUX
ajst-17392	37	15	a	a	DET
ajst-17392	37	16	necessary	necessary	ADJ
ajst-17392	37	17	turning	turning	NOUN
ajst-17392	37	18	point	point	NOUN
ajst-17392	37	19	and	and	CCONJ
ajst-17392	37	20	is	be	AUX
ajst-17392	37	21	considered	consider	VERB
ajst-17392	37	22	to	to	PART
ajst-17392	37	23	be	be	AUX
ajst-17392	37	24	a	a	DET
ajst-17392	37	25	critical	critical	ADJ
ajst-17392	37	26	point	point	NOUN
ajst-17392	37	27	in	in	ADP
ajst-17392	37	28	path	path	NOUN
ajst-17392	37	29	planning	planning	NOUN
ajst-17392	37	30	and	and	CCONJ
ajst-17392	37	31	needs	need	VERB
ajst-17392	37	32	to	to	PART
ajst-17392	37	33	be	be	AUX
ajst-17392	37	34	retained	retain	VERB
ajst-17392	37	35	.	.	PUNCT
ajst-17392	38	1	through	through	ADP
ajst-17392	38	2	the	the	DET
ajst-17392	38	3	above	above	ADJ
ajst-17392	38	4	steps	step	NOUN
ajst-17392	38	5	,	,	PUNCT
ajst-17392	38	6	the	the	DET
ajst-17392	38	7	critical	critical	ADJ
ajst-17392	38	8	points	point	NOUN
ajst-17392	38	9	in	in	ADP
ajst-17392	38	10	the	the	DET
ajst-17392	38	11	path	path	NOUN
ajst-17392	38	12	can	can	AUX
ajst-17392	38	13	be	be	AUX
ajst-17392	38	14	filtered	filter	VERB
ajst-17392	38	15	and	and	CCONJ
ajst-17392	38	16	eliminated	eliminate	VERB
ajst-17392	38	17	,	,	PUNCT
ajst-17392	38	18	removing	remove	VERB
ajst-17392	38	19	redundant	redundant	ADJ
ajst-17392	38	20	co	co	ADJ
ajst-17392	38	21	-	-	ADJ
ajst-17392	38	22	linear	linear	ADJ
ajst-17392	38	23	nodes	node	NOUN
ajst-17392	38	24	and	and	CCONJ
ajst-17392	38	25	turning	turn	VERB
ajst-17392	38	26	points	point	NOUN
ajst-17392	38	27	,	,	PUNCT
ajst-17392	38	28	and	and	CCONJ
ajst-17392	38	29	retaining	retain	VERB
ajst-17392	38	30	the	the	DET
ajst-17392	38	31	necessary	necessary	ADJ
ajst-17392	38	32	turning	turning	NOUN
ajst-17392	38	33	points	point	NOUN
ajst-17392	38	34	,	,	PUNCT
ajst-17392	38	35	in	in	ADP
ajst-17392	38	36	order	order	NOUN
ajst-17392	38	37	to	to	PART
ajst-17392	38	38	make	make	VERB
ajst-17392	38	39	the	the	DET
ajst-17392	38	40	path	path	NOUN
ajst-17392	38	41	more	more	ADV
ajst-17392	38	42	streamlined	streamlined	ADJ
ajst-17392	38	43	and	and	CCONJ
ajst-17392	38	44	in	in	ADP
ajst-17392	38	45	line	line	NOUN
ajst-17392	38	46	with	with	ADP
ajst-17392	38	47	the	the	DET
ajst-17392	38	48	actual	actual	ADJ
ajst-17392	38	49	navigation	navigation	NOUN
ajst-17392	38	50	and	and	CCONJ
ajst-17392	38	51	planning	planning	NOUN
ajst-17392	38	52	needs	need	NOUN
ajst-17392	38	53	.	.	PUNCT
ajst-17392	39	1	2.4	2.4	NUM
ajst-17392	39	2	.	.	PUNCT
ajst-17392	40	1	optimizing	optimize	VERB
ajst-17392	40	2	the	the	DET
ajst-17392	40	3	cost	cost	NOUN
ajst-17392	40	4	function	function	NOUN
ajst-17392	40	5	in	in	ADP
ajst-17392	40	6	the	the	DET
ajst-17392	40	7	a	a	PROPN
ajst-17392	40	8	*	*	NOUN
ajst-17392	40	9	algorithm	algorithm	NOUN
ajst-17392	40	10	,	,	PUNCT
ajst-17392	40	11	the	the	DET
ajst-17392	40	12	cost	cost	NOUN
ajst-17392	40	13	function	function	NOUN
ajst-17392	40	14	determines	determine	VERB
ajst-17392	40	15	the	the	DET
ajst-17392	40	16	path	path	NOUN
ajst-17392	40	17	selection	selection	NOUN
ajst-17392	40	18	during	during	ADP
ajst-17392	40	19	the	the	DET
ajst-17392	40	20	search	search	NOUN
ajst-17392	40	21	process	process	NOUN
ajst-17392	40	22	.	.	PUNCT
ajst-17392	41	1	the	the	DET
ajst-17392	41	2	a	a	PROPN
ajst-17392	41	3	*	*	PROPN
ajst-17392	41	4	algorithm	algorithm	NOUN
ajst-17392	41	5	can	can	AUX
ajst-17392	41	6	be	be	AUX
ajst-17392	41	7	improved	improve	VERB
ajst-17392	41	8	by	by	ADP
ajst-17392	41	9	optimizing	optimize	VERB
ajst-17392	41	10	the	the	DET
ajst-17392	41	11	cost	cost	NOUN
ajst-17392	41	12	function	function	NOUN
ajst-17392	41	13	[	[	X
ajst-17392	41	14	14	14	NUM
ajst-17392	41	15	]	]	PUNCT
ajst-17392	41	16	.	.	PUNCT
ajst-17392	42	1	first	first	ADJ
ajst-17392	42	2	,	,	PUNCT
ajst-17392	42	3	heuristic	heuristic	ADJ
ajst-17392	42	4	function	function	NOUN
ajst-17392	42	5	(	(	PUNCT
ajst-17392	42	6	heuristic	heuristic	ADJ
ajst-17392	42	7	function	function	NOUN
ajst-17392	42	8	)	)	PUNCT
ajst-17392	42	9	in	in	ADP
ajst-17392	42	10	a	a	DET
ajst-17392	42	11	*	*	X
ajst-17392	42	12	algorithm	algorithm	NOUN
ajst-17392	42	13	,	,	PUNCT
ajst-17392	42	14	heuristic	heuristic	ADJ
ajst-17392	42	15	function	function	NOUN
ajst-17392	42	16	is	be	AUX
ajst-17392	42	17	used	use	VERB
ajst-17392	42	18	to	to	PART
ajst-17392	42	19	estimate	estimate	VERB
ajst-17392	42	20	the	the	DET
ajst-17392	42	21	cost	cost	NOUN
ajst-17392	42	22	from	from	ADP
ajst-17392	42	23	the	the	DET
ajst-17392	42	24	current	current	ADJ
ajst-17392	42	25	node	node	NOUN
ajst-17392	42	26	to	to	ADP
ajst-17392	42	27	the	the	DET
ajst-17392	42	28	target	target	NOUN
ajst-17392	42	29	node	node	NOUN
ajst-17392	42	30	,	,	PUNCT
ajst-17392	42	31	i.e.	i.e.	X
ajst-17392	42	32	,	,	PUNCT
ajst-17392	42	33	the	the	DET
ajst-17392	42	34	residual	residual	ADJ
ajst-17392	42	35	cost	cost	NOUN
ajst-17392	42	36	.	.	PUNCT
ajst-17392	43	1	second	second	ADJ
ajst-17392	43	2	,	,	PUNCT
ajst-17392	43	3	cost	cost	NOUN
ajst-17392	43	4	function	function	NOUN
ajst-17392	43	5	weight	weight	NOUN
ajst-17392	43	6	tuning	tuning	NOUN
ajst-17392	43	7	:	:	PUNCT
ajst-17392	43	8	the	the	DET
ajst-17392	43	9	cost	cost	NOUN
ajst-17392	43	10	function	function	NOUN
ajst-17392	43	11	in	in	ADP
ajst-17392	43	12	a	a	DET
ajst-17392	43	13	*	*	ADJ
ajst-17392	43	14	algorithm	algorithm	NOUN
ajst-17392	43	15	usually	usually	ADV
ajst-17392	43	16	consists	consist	VERB
ajst-17392	43	17	of	of	ADP
ajst-17392	43	18	two	two	NUM
ajst-17392	43	19	parts	part	NOUN
ajst-17392	43	20	,	,	PUNCT
ajst-17392	43	21	i.e.	i.e.	X
ajst-17392	43	22	,	,	PUNCT
ajst-17392	43	23	the	the	DET
ajst-17392	43	24	cost	cost	NOUN
ajst-17392	43	25	from	from	ADP
ajst-17392	43	26	the	the	DET
ajst-17392	43	27	start	start	NOUN
ajst-17392	43	28	node	node	NOUN
ajst-17392	43	29	to	to	ADP
ajst-17392	43	30	the	the	DET
ajst-17392	43	31	current	current	ADJ
ajst-17392	43	32	node	node	NOUN
ajst-17392	43	33	(	(	PUNCT
ajst-17392	43	34	g(n	g(n	PROPN
ajst-17392	43	35	)	)	PUNCT
ajst-17392	43	36	)	)	PUNCT
ajst-17392	43	37	and	and	CCONJ
ajst-17392	43	38	the	the	DET
ajst-17392	43	39	estimated	estimate	VERB
ajst-17392	43	40	cost	cost	NOUN
ajst-17392	43	41	from	from	ADP
ajst-17392	43	42	the	the	DET
ajst-17392	43	43	current	current	ADJ
ajst-17392	43	44	node	node	NOUN
ajst-17392	43	45	to	to	ADP
ajst-17392	43	46	the	the	DET
ajst-17392	43	47	target	target	NOUN
ajst-17392	43	48	node	node	NOUN
ajst-17392	43	49	(	(	PUNCT
ajst-17392	43	50	h(n	h(n	PROPN
ajst-17392	43	51	)	)	PUNCT
ajst-17392	43	52	)	)	PUNCT
ajst-17392	43	53	.	.	PUNCT
ajst-17392	44	1	by	by	ADP
ajst-17392	44	2	adjusting	adjust	VERB
ajst-17392	44	3	the	the	DET
ajst-17392	44	4	weights	weight	NOUN
ajst-17392	44	5	of	of	ADP
ajst-17392	44	6	the	the	DET
ajst-17392	44	7	cost	cost	NOUN
ajst-17392	44	8	function	function	NOUN
ajst-17392	44	9	,	,	PUNCT
ajst-17392	44	10	the	the	DET
ajst-17392	44	11	effects	effect	NOUN
ajst-17392	44	12	of	of	ADP
ajst-17392	44	13	actual	actual	ADJ
ajst-17392	44	14	and	and	CCONJ
ajst-17392	44	15	estimated	estimated	ADJ
ajst-17392	44	16	costs	cost	NOUN
ajst-17392	44	17	on	on	ADP
ajst-17392	44	18	path	path	NOUN
ajst-17392	44	19	selection	selection	NOUN
ajst-17392	44	20	can	can	AUX
ajst-17392	44	21	be	be	AUX
ajst-17392	44	22	balanced	balance	VERB
ajst-17392	44	23	.	.	PUNCT
ajst-17392	45	1	when	when	SCONJ
ajst-17392	45	2	the	the	DET
ajst-17392	45	3	weight	weight	NOUN
ajst-17392	45	4	is	be	AUX
ajst-17392	45	5	1	1	NUM
ajst-17392	45	6	,	,	PUNCT
ajst-17392	45	7	the	the	DET
ajst-17392	45	8	a	a	PRON
ajst-17392	45	9	*	*	ADJ
ajst-17392	45	10	algorithm	algorithm	NOUN
ajst-17392	45	11	is	be	AUX
ajst-17392	45	12	more	more	ADV
ajst-17392	45	13	inclined	inclined	ADJ
ajst-17392	45	14	to	to	PART
ajst-17392	45	15	choose	choose	VERB
ajst-17392	45	16	the	the	DET
ajst-17392	45	17	path	path	NOUN
ajst-17392	45	18	with	with	ADP
ajst-17392	45	19	smaller	small	ADJ
ajst-17392	45	20	actual	actual	ADJ
ajst-17392	45	21	cost	cost	NOUN
ajst-17392	45	22	;	;	PUNCT
ajst-17392	45	23	when	when	SCONJ
ajst-17392	45	24	the	the	DET
ajst-17392	45	25	weight	weight	NOUN
ajst-17392	45	26	is	be	AUX
ajst-17392	45	27	less	less	ADJ
ajst-17392	45	28	than	than	ADP
ajst-17392	45	29	1	1	NUM
ajst-17392	45	30	,	,	PUNCT
ajst-17392	45	31	it	it	PRON
ajst-17392	45	32	is	be	AUX
ajst-17392	45	33	more	more	ADV
ajst-17392	45	34	inclined	inclined	ADJ
ajst-17392	45	35	to	to	PART
ajst-17392	45	36	choose	choose	VERB
ajst-17392	45	37	the	the	DET
ajst-17392	45	38	path	path	NOUN
ajst-17392	45	39	with	with	ADP
ajst-17392	45	40	smaller	small	ADJ
ajst-17392	45	41	estimated	estimate	VERB
ajst-17392	45	42	cost	cost	NOUN
ajst-17392	45	43	[	[	X
ajst-17392	45	44	15	15	NUM
ajst-17392	45	45	]	]	PUNCT
ajst-17392	45	46	.	.	PUNCT
ajst-17392	46	1	in	in	ADP
ajst-17392	46	2	the	the	DET
ajst-17392	46	3	actual	actual	ADJ
ajst-17392	46	4	movement	movement	NOUN
ajst-17392	46	5	process	process	NOUN
ajst-17392	46	6	,	,	PUNCT
ajst-17392	46	7	the	the	DET
ajst-17392	46	8	weight	weight	NOUN
ajst-17392	46	9	coefficient	coefficient	NOUN
ajst-17392	46	10	of	of	ADP
ajst-17392	46	11	the	the	DET
ajst-17392	46	12	angle	angle	NOUN
ajst-17392	46	13	between	between	ADP
ajst-17392	46	14	the	the	DET
ajst-17392	46	15	actual	actual	ADJ
ajst-17392	46	16	forward	forward	ADJ
ajst-17392	46	17	direction	direction	NOUN
ajst-17392	46	18	and	and	CCONJ
ajst-17392	46	19	the	the	DET
ajst-17392	46	20	planning	planning	NOUN
ajst-17392	46	21	direction	direction	NOUN
ajst-17392	46	22	determines	determine	VERB
ajst-17392	46	23	its	its	PRON
ajst-17392	46	24	traveling	travel	VERB
ajst-17392	46	25	direction	direction	NOUN
ajst-17392	46	26	at	at	ADP
ajst-17392	46	27	the	the	DET
ajst-17392	46	28	next	next	ADJ
ajst-17392	46	29	moment	moment	NOUN
ajst-17392	46	30	of	of	ADP
ajst-17392	46	31	planning	planning	NOUN
ajst-17392	46	32	detection	detection	NOUN
ajst-17392	46	33	;	;	PUNCT
ajst-17392	46	34	the	the	DET
ajst-17392	46	35	weight	weight	NOUN
ajst-17392	46	36	of	of	ADP
ajst-17392	46	37	the	the	DET
ajst-17392	46	38	obstacles	obstacle	NOUN
ajst-17392	46	39	determines	determine	VERB
ajst-17392	46	40	its	its	PRON
ajst-17392	46	41	real	real	ADJ
ajst-17392	46	42	effective	effective	ADJ
ajst-17392	46	43	distance	distance	NOUN
ajst-17392	46	44	traveled	travel	VERB
ajst-17392	46	45	in	in	ADP
ajst-17392	46	46	planning	plan	VERB
ajst-17392	46	47	the	the	DET
ajst-17392	46	48	optimal	optimal	ADJ
ajst-17392	46	49	path	path	NOUN
ajst-17392	46	50	;	;	PUNCT
ajst-17392	46	51	the	the	DET
ajst-17392	46	52	weight	weight	NOUN
ajst-17392	46	53	of	of	ADP
ajst-17392	46	54	the	the	DET
ajst-17392	46	55	linear	linear	ADJ
ajst-17392	46	56	velocity	velocity	NOUN
ajst-17392	46	57	value	value	NOUN
ajst-17392	46	58	affects	affect	VERB
ajst-17392	46	59	the	the	DET
ajst-17392	46	60	whole	whole	ADJ
ajst-17392	46	61	traveling	traveling	ADJ
ajst-17392	46	62	time	time	NOUN
ajst-17392	46	63	length	length	NOUN
ajst-17392	46	64	of	of	ADP
ajst-17392	46	65	this	this	DET
ajst-17392	46	66	path	path	NOUN
ajst-17392	46	67	planning	planning	NOUN
ajst-17392	46	68	;	;	PUNCT
ajst-17392	46	69	and	and	CCONJ
ajst-17392	46	70	the	the	DET
ajst-17392	46	71	last	last	ADJ
ajst-17392	46	72	but	but	CCONJ
ajst-17392	46	73	not	not	PART
ajst-17392	46	74	least	least	ADJ
ajst-17392	46	75	,	,	PUNCT
ajst-17392	46	76	the	the	DET
ajst-17392	46	77	number	number	NOUN
ajst-17392	46	78	and	and	CCONJ
ajst-17392	46	79	the	the	DET
ajst-17392	46	80	position	position	NOUN
ajst-17392	46	81	of	of	ADP
ajst-17392	46	82	random	random	ADJ
ajst-17392	46	83	obstacles	obstacle	NOUN
ajst-17392	46	84	,	,	PUNCT
ajst-17392	46	85	which	which	PRON
ajst-17392	46	86	affects	affect	VERB
ajst-17392	46	87	the	the	DET
ajst-17392	46	88	most	most	ADV
ajst-17392	46	89	crucial	crucial	ADJ
ajst-17392	46	90	global	global	ADJ
ajst-17392	46	91	planning	planning	NOUN
ajst-17392	46	92	duration	duration	NOUN
ajst-17392	46	93	and	and	CCONJ
ajst-17392	46	94	distance	distance	NOUN
ajst-17392	46	95	.	.	PUNCT
ajst-17392	47	1	based	base	VERB
ajst-17392	47	2	on	on	ADP
ajst-17392	47	3	each	each	PRON
ajst-17392	47	4	of	of	ADP
ajst-17392	47	5	the	the	DET
ajst-17392	47	6	above	above	ADJ
ajst-17392	47	7	influencing	influence	VERB
ajst-17392	47	8	factors	factor	NOUN
ajst-17392	47	9	,	,	PUNCT
ajst-17392	47	10	this	this	DET
ajst-17392	47	11	paper	paper	NOUN
ajst-17392	47	12	improves	improve	VERB
ajst-17392	47	13	its	its	PRON
ajst-17392	47	14	cost	cost	NOUN
ajst-17392	47	15	function	function	NOUN
ajst-17392	47	16	as	as	ADP
ajst-17392	47	17	:	:	PUNCT
ajst-17392	47	18			NOUN
ajst-17392	47	19			PROPN
ajst-17392	47	20			NOUN
ajst-17392	47	21			SYM
ajst-17392	47	22			NOUN
ajst-17392	47	23	d	d	PUNCT
ajst-17392	48	1	r	r	NOUN
ajst-17392	48	2	f	f	NOUN
ajst-17392	48	3	n	n	ADP
ajst-17392	48	4	g	g	PROPN
ajst-17392	48	5	n	n	CCONJ
ajst-17392	48	6	h	h	NOUN
ajst-17392	49	1	n	n	ADP
ajst-17392	49	2	r	r	NOUN
ajst-17392	49	3			PROPN
ajst-17392	49	4			NOUN
ajst-17392	49	5			PUNCT
ajst-17392	49	6	where	where	SCONJ
ajst-17392	49	7	f(n	f(n	PROPN
ajst-17392	49	8	)	)	PUNCT
ajst-17392	49	9	is	be	AUX
ajst-17392	49	10	the	the	DET
ajst-17392	49	11	integrated	integrate	VERB
ajst-17392	49	12	cost	cost	NOUN
ajst-17392	50	1	;	;	PUNCT
ajst-17392	50	2	g(n	g(n	PROPN
ajst-17392	50	3	)	)	PUNCT
ajst-17392	50	4	is	be	AUX
ajst-17392	50	5	the	the	DET
ajst-17392	50	6	actual	actual	ADJ
ajst-17392	50	7	cost	cost	NOUN
ajst-17392	50	8	from	from	ADP
ajst-17392	50	9	the	the	DET
ajst-17392	50	10	starting	starting	NOUN
ajst-17392	50	11	point	point	NOUN
ajst-17392	50	12	to	to	ADP
ajst-17392	50	13	the	the	DET
ajst-17392	50	14	target	target	NOUN
ajst-17392	50	15	point	point	NOUN
ajst-17392	50	16	;	;	PUNCT
ajst-17392	50	17	h(n	h(n	PROPN
ajst-17392	50	18	)	)	PUNCT
ajst-17392	50	19	is	be	AUX
ajst-17392	50	20	the	the	DET
ajst-17392	50	21	estimated	estimate	VERB
ajst-17392	50	22	cost	cost	NOUN
ajst-17392	50	23	from	from	ADP
ajst-17392	50	24	the	the	DET
ajst-17392	50	25	current	current	ADJ
ajst-17392	50	26	point	point	NOUN
ajst-17392	50	27	to	to	ADP
ajst-17392	50	28	the	the	DET
ajst-17392	50	29	target	target	NOUN
ajst-17392	50	30	point	point	NOUN
ajst-17392	50	31	.	.	PUNCT
ajst-17392	51	1	r	r	NOUN
ajst-17392	51	2	is	be	AUX
ajst-17392	51	3	the	the	DET
ajst-17392	51	4	distance	distance	NOUN
ajst-17392	51	5	from	from	ADP
ajst-17392	51	6	the	the	DET
ajst-17392	51	7	current	current	ADJ
ajst-17392	51	8	point	point	NOUN
ajst-17392	51	9	to	to	ADP
ajst-17392	51	10	the	the	DET
ajst-17392	51	11	target	target	NOUN
ajst-17392	51	12	point	point	NOUN
ajst-17392	51	13	.	.	PUNCT
ajst-17392	52	1	d	d	X
ajst-17392	52	2	is	be	AUX
ajst-17392	52	3	the	the	DET
ajst-17392	52	4	distance	distance	NOUN
ajst-17392	52	5	from	from	ADP
ajst-17392	52	6	the	the	DET
ajst-17392	52	7	starting	starting	NOUN
ajst-17392	52	8	point	point	NOUN
ajst-17392	52	9	to	to	ADP
ajst-17392	52	10	the	the	DET
ajst-17392	52	11	target	target	NOUN
ajst-17392	52	12	point	point	NOUN
ajst-17392	52	13	,	,	PUNCT
ajst-17392	52	14	and	and	CCONJ
ajst-17392	52	15	r	r	NOUN
ajst-17392	52	16	is	be	AUX
ajst-17392	52	17	the	the	DET
ajst-17392	52	18	distance	distance	NOUN
ajst-17392	52	19	from	from	ADP
ajst-17392	52	20	the	the	DET
ajst-17392	52	21	starting	starting	NOUN
ajst-17392	52	22	point	point	NOUN
ajst-17392	52	23	to	to	ADP
ajst-17392	52	24	the	the	DET
ajst-17392	52	25	destination	destination	NOUN
ajst-17392	52	26	.	.	PUNCT
ajst-17392	53	1	2.5	2.5	NUM
ajst-17392	53	2	.	.	PUNCT
ajst-17392	54	1	floyd	floyd	PROPN
ajst-17392	54	2	's	's	PART
ajst-17392	54	3	algorithm	algorithm	PROPN
ajst-17392	54	4	floyd	floyd	PROPN
ajst-17392	54	5	's	's	PART
ajst-17392	54	6	algorithm	algorithm	NOUN
ajst-17392	54	7	is	be	AUX
ajst-17392	54	8	an	an	DET
ajst-17392	54	9	algorithm	algorithm	NOUN
ajst-17392	54	10	for	for	ADP
ajst-17392	54	11	solving	solve	VERB
ajst-17392	54	12	the	the	DET
ajst-17392	54	13	shortest	short	ADJ
ajst-17392	54	14	path	path	NOUN
ajst-17392	54	15	between	between	ADP
ajst-17392	54	16	pairs	pair	NOUN
ajst-17392	54	17	of	of	ADP
ajst-17392	54	18	points	point	NOUN
ajst-17392	54	19	.	.	PUNCT
ajst-17392	55	1	it	it	PRON
ajst-17392	55	2	uses	use	VERB
ajst-17392	55	3	the	the	DET
ajst-17392	55	4	idea	idea	NOUN
ajst-17392	55	5	of	of	ADP
ajst-17392	55	6	dynamic	dynamic	ADJ
ajst-17392	55	7	programming	programming	NOUN
ajst-17392	55	8	to	to	PART
ajst-17392	55	9	finally	finally	ADV
ajst-17392	55	10	get	get	VERB
ajst-17392	55	11	the	the	DET
ajst-17392	55	12	shortest	short	ADJ
ajst-17392	55	13	path	path	NOUN
ajst-17392	55	14	between	between	ADP
ajst-17392	55	15	pairs	pair	NOUN
ajst-17392	55	16	of	of	ADP
ajst-17392	55	17	points	point	NOUN
ajst-17392	55	18	by	by	ADP
ajst-17392	55	19	constantly	constantly	ADV
ajst-17392	55	20	updating	update	VERB
ajst-17392	55	21	the	the	DET
ajst-17392	55	22	intermediate	intermediate	ADJ
ajst-17392	55	23	nodes	node	NOUN
ajst-17392	55	24	in	in	ADP
ajst-17392	55	25	the	the	DET
ajst-17392	55	26	path	path	NOUN
ajst-17392	55	27	.	.	PUNCT
ajst-17392	56	1	the	the	DET
ajst-17392	56	2	core	core	NOUN
ajst-17392	56	3	of	of	ADP
ajst-17392	56	4	floyd	floyd	PROPN
ajst-17392	56	5	's	's	PART
ajst-17392	56	6	algorithm	algorithm	NOUN
ajst-17392	56	7	is	be	AUX
ajst-17392	56	8	the	the	DET
ajst-17392	56	9	triple	triple	ADJ
ajst-17392	56	10	loop	loop	NOUN
ajst-17392	56	11	.	.	PUNCT
ajst-17392	57	1	the	the	DET
ajst-17392	57	2	outer	outer	ADJ
ajst-17392	57	3	loop	loop	NOUN
ajst-17392	57	4	is	be	AUX
ajst-17392	57	5	used	use	VERB
ajst-17392	57	6	to	to	PART
ajst-17392	57	7	traverse	traverse	VERB
ajst-17392	57	8	all	all	DET
ajst-17392	57	9	possible	possible	ADJ
ajst-17392	57	10	intermediate	intermediate	ADJ
ajst-17392	57	11	nodes	node	NOUN
ajst-17392	57	12	,	,	PUNCT
ajst-17392	57	13	the	the	DET
ajst-17392	57	14	middle	middle	PROPN
ajst-17392	57	15	loop	loop	NOUN
ajst-17392	57	16	is	be	AUX
ajst-17392	57	17	used	use	VERB
ajst-17392	57	18	to	to	PART
ajst-17392	57	19	traverse	traverse	VERB
ajst-17392	57	20	all	all	DET
ajst-17392	57	21	possible	possible	ADJ
ajst-17392	57	22	start	start	NOUN
ajst-17392	57	23	nodes	node	NOUN
ajst-17392	57	24	,	,	PUNCT
ajst-17392	57	25	and	and	CCONJ
ajst-17392	57	26	the	the	DET
ajst-17392	57	27	inner	inner	ADJ
ajst-17392	57	28	loop	loop	NOUN
ajst-17392	57	29	is	be	AUX
ajst-17392	57	30	used	use	VERB
ajst-17392	57	31	to	to	PART
ajst-17392	57	32	traverse	traverse	VERB
ajst-17392	57	33	all	all	DET
ajst-17392	57	34	possible	possible	ADJ
ajst-17392	57	35	end	end	NOUN
ajst-17392	57	36	nodes	node	NOUN
ajst-17392	57	37	.	.	PUNCT
ajst-17392	58	1	in	in	ADP
ajst-17392	58	2	each	each	DET
ajst-17392	58	3	loop	loop	NOUN
ajst-17392	58	4	,	,	PUNCT
ajst-17392	58	5	the	the	DET
ajst-17392	58	6	shortest	short	ADJ
ajst-17392	58	7	path	path	NOUN
ajst-17392	58	8	is	be	AUX
ajst-17392	58	9	updated	update	VERB
ajst-17392	58	10	by	by	ADP
ajst-17392	58	11	comparing	compare	VERB
ajst-17392	58	12	the	the	DET
ajst-17392	58	13	length	length	NOUN
ajst-17392	58	14	of	of	ADP
ajst-17392	58	15	the	the	DET
ajst-17392	58	16	current	current	ADJ
ajst-17392	58	17	path	path	NOUN
ajst-17392	58	18	through	through	ADP
ajst-17392	58	19	the	the	DET
ajst-17392	58	20	intermediate	intermediate	ADJ
ajst-17392	58	21	nodes	node	NOUN
ajst-17392	58	22	with	with	ADP
ajst-17392	58	23	the	the	DET
ajst-17392	58	24	length	length	NOUN
ajst-17392	58	25	of	of	ADP
ajst-17392	58	26	the	the	DET
ajst-17392	58	27	path	path	NOUN
ajst-17392	58	28	without	without	ADP
ajst-17392	58	29	intermediate	intermediate	ADJ
ajst-17392	58	30	nodes	node	NOUN
ajst-17392	58	31	3	3	NUM
ajst-17392	58	32	.	.	PUNCT
ajst-17392	59	1	dwa	dwa	PROPN
ajst-17392	59	2	algorithm	algorithm	PROPN
ajst-17392	59	3	dwa	dwa	PROPN
ajst-17392	59	4	algorithm	algorithm	PROPN
ajst-17392	59	5	(	(	PUNCT
ajst-17392	59	6	dynamic	dynamic	ADJ
ajst-17392	59	7	window	window	NOUN
ajst-17392	59	8	approach	approach	NOUN
ajst-17392	59	9	)	)	PUNCT
ajst-17392	59	10	is	be	AUX
ajst-17392	59	11	a	a	DET
ajst-17392	59	12	fast	fast	ADJ
ajst-17392	59	13	path	path	NOUN
ajst-17392	59	14	planning	planning	NOUN
ajst-17392	59	15	algorithm	algorithm	NOUN
ajst-17392	59	16	for	for	ADP
ajst-17392	59	17	robot	robot	NOUN
ajst-17392	59	18	navigation	navigation	NOUN
ajst-17392	59	19	and	and	CCONJ
ajst-17392	59	20	mobile	mobile	NOUN
ajst-17392	59	21	intelligences	intelligence	NOUN
ajst-17392	59	22	[	[	X
ajst-17392	59	23	13	13	NUM
ajst-17392	59	24	]	]	PUNCT
ajst-17392	59	25	.	.	PUNCT
ajst-17392	60	1	its	its	PRON
ajst-17392	60	2	core	core	ADJ
ajst-17392	60	3	idea	idea	NOUN
ajst-17392	60	4	is	be	AUX
ajst-17392	60	5	to	to	PART
ajst-17392	60	6	select	select	VERB
ajst-17392	60	7	the	the	DET
ajst-17392	60	8	optimal	optimal	ADJ
ajst-17392	60	9	motion	motion	NOUN
ajst-17392	60	10	strategy	strategy	NOUN
ajst-17392	60	11	in	in	ADP
ajst-17392	60	12	the	the	DET
ajst-17392	60	13	current	current	ADJ
ajst-17392	60	14	state	state	NOUN
ajst-17392	60	15	space	space	NOUN
ajst-17392	60	16	of	of	ADP
ajst-17392	60	17	the	the	DET
ajst-17392	60	18	robot	robot	NOUN
ajst-17392	60	19	by	by	ADP
ajst-17392	60	20	defining	define	VERB
ajst-17392	60	21	the	the	DET
ajst-17392	60	22	dynamic	dynamic	ADJ
ajst-17392	60	23	window	window	NOUN
ajst-17392	60	24	,	,	PUNCT
ajst-17392	60	25	in	in	ADP
ajst-17392	60	26	order	order	NOUN
ajst-17392	60	27	to	to	PART
ajst-17392	60	28	effectively	effectively	ADV
ajst-17392	60	29	avoid	avoid	VERB
ajst-17392	60	30	obstacles	obstacle	NOUN
ajst-17392	60	31	and	and	CCONJ
ajst-17392	60	32	realize	realize	VERB
ajst-17392	60	33	the	the	DET
ajst-17392	60	34	fast	fast	ADJ
ajst-17392	60	35	generation	generation	NOUN
ajst-17392	60	36	of	of	ADP
ajst-17392	60	37	the	the	DET
ajst-17392	60	38	planned	plan	VERB
ajst-17392	60	39	path	path	NOUN
ajst-17392	60	40	.	.	PUNCT
ajst-17392	61	1	the	the	DET
ajst-17392	61	2	basic	basic	ADJ
ajst-17392	61	3	algorithm	algorithm	NOUN
ajst-17392	61	4	idea	idea	NOUN
ajst-17392	61	5	is	be	AUX
ajst-17392	61	6	:	:	PUNCT
ajst-17392	61	7	firstly	firstly	ADV
ajst-17392	61	8	,	,	PUNCT
ajst-17392	61	9	to	to	PART
ajst-17392	61	10	obtain	obtain	VERB
ajst-17392	61	11	the	the	DET
ajst-17392	61	12	current	current	ADJ
ajst-17392	61	13	state	state	NOUN
ajst-17392	61	14	of	of	ADP
ajst-17392	61	15	the	the	DET
ajst-17392	61	16	robot	robot	NOUN
ajst-17392	61	17	,	,	PUNCT
ajst-17392	61	18	such	such	ADJ
ajst-17392	61	19	as	as	ADP
ajst-17392	61	20	:	:	PUNCT
ajst-17392	61	21	position	position	NOUN
ajst-17392	61	22	,	,	PUNCT
ajst-17392	61	23	velocity	velocity	NOUN
ajst-17392	61	24	,	,	PUNCT
ajst-17392	61	25	direction	direction	NOUN
ajst-17392	61	26	,	,	PUNCT
ajst-17392	61	27	etc	etc	X
ajst-17392	61	28	.	.	X
ajst-17392	61	29	;	;	PUNCT
ajst-17392	61	30	secondly	secondly	ADV
ajst-17392	61	31	,	,	PUNCT
ajst-17392	61	32	to	to	PART
ajst-17392	61	33	define	define	VERB
ajst-17392	61	34	the	the	DET
ajst-17392	61	35	dynamic	dynamic	ADJ
ajst-17392	61	36	window	window	NOUN
ajst-17392	61	37	,	,	PUNCT
ajst-17392	61	38	to	to	PART
ajst-17392	61	39	determine	determine	VERB
ajst-17392	61	40	its	its	PRON
ajst-17392	61	41	angular	angular	ADJ
ajst-17392	61	42	and	and	CCONJ
ajst-17392	61	43	linear	linear	ADJ
ajst-17392	61	44	velocity	velocity	NOUN
ajst-17392	61	45	ranges	range	VERB
ajst-17392	61	46	to	to	PART
ajst-17392	61	47	compose	compose	VERB
ajst-17392	61	48	its	its	PRON
ajst-17392	61	49	maximum	maximum	ADJ
ajst-17392	61	50	movable	movable	ADJ
ajst-17392	61	51	range	range	NOUN
ajst-17392	61	52	,	,	PUNCT
ajst-17392	61	53	called	call	VERB
ajst-17392	61	54	the	the	DET
ajst-17392	61	55	dynamic	dynamic	ADJ
ajst-17392	61	56	window	window	NOUN
ajst-17392	61	57	;	;	PUNCT
ajst-17392	61	58	and	and	CCONJ
ajst-17392	61	59	subsequently	subsequently	ADV
ajst-17392	61	60	,	,	PUNCT
ajst-17392	61	61	to	to	PART
ajst-17392	61	62	generate	generate	VERB
ajst-17392	61	63	the	the	DET
ajst-17392	61	64	optimal	optimal	ADJ
ajst-17392	61	65	obstacle	obstacle	NOUN
ajst-17392	61	66	avoidance	avoidance	NOUN
ajst-17392	61	67	motion	motion	NOUN
ajst-17392	61	68	trajectory	trajectory	NOUN
ajst-17392	61	69	[	[	X
ajst-17392	61	70	810	810	NUM
ajst-17392	61	71	]	]	PUNCT
ajst-17392	61	72	.	.	PUNCT
ajst-17392	62	1	3.1	3.1	NUM
ajst-17392	62	2	.	.	PUNCT
ajst-17392	63	1	modeling	modeling	NOUN
ajst-17392	63	2	robot	robot	NOUN
ajst-17392	63	3	motion	motion	NOUN
ajst-17392	63	4	dwa	dwa	PROPN
ajst-17392	63	5	performs	perform	VERB
ajst-17392	63	6	trajectory	trajectory	NOUN
ajst-17392	63	7	simulation	simulation	NOUN
ajst-17392	63	8	by	by	ADP
ajst-17392	63	9	means	mean	NOUN
ajst-17392	63	10	of	of	ADP
ajst-17392	63	11	the	the	DET
ajst-17392	63	12	robot	robot	NOUN
ajst-17392	63	13	's	's	PART
ajst-17392	63	14	motion	motion	NOUN
ajst-17392	63	15	model	model	NOUN
ajst-17392	63	16	to	to	PART
ajst-17392	63	17	obtain	obtain	VERB
ajst-17392	63	18	the	the	DET
ajst-17392	63	19	optimal	optimal	ADJ
ajst-17392	63	20	path	path	NOUN
ajst-17392	63	21	in	in	ADP
ajst-17392	63	22	the	the	DET
ajst-17392	63	23	simulated	simulate	VERB
ajst-17392	63	24	motion	motion	NOUN
ajst-17392	63	25	trajectory	trajectory	NOUN
ajst-17392	63	26	.	.	PUNCT
ajst-17392	64	1	let	let	VERB
ajst-17392	64	2	v(t	v(t	PRON
ajst-17392	64	3	)	)	PUNCT
ajst-17392	64	4	be	be	AUX
ajst-17392	64	5	the	the	DET
ajst-17392	64	6	linear	linear	ADJ
ajst-17392	64	7	velocity	velocity	NOUN
ajst-17392	64	8	of	of	ADP
ajst-17392	64	9	the	the	DET
ajst-17392	64	10	robot	robot	NOUN
ajst-17392	64	11	at	at	ADP
ajst-17392	64	12	the	the	DET
ajst-17392	64	13	moment	moment	NOUN
ajst-17392	64	14	t	t	NOUN
ajst-17392	64	15	and	and	CCONJ
ajst-17392	64	16	w(t	w(t	PROPN
ajst-17392	64	17	)	)	PUNCT
ajst-17392	64	18	be	be	AUX
ajst-17392	64	19	the	the	DET
ajst-17392	64	20	angular	angular	ADJ
ajst-17392	64	21	velocity	velocity	NOUN
ajst-17392	64	22	at	at	ADP
ajst-17392	64	23	the	the	DET
ajst-17392	64	24	moment	moment	NOUN
ajst-17392	65	1	t.	t.	NOUN
ajst-17392	65	2	the	the	DET
ajst-17392	65	3	positional	positional	ADJ
ajst-17392	65	4	attitude	attitude	NOUN
ajst-17392	65	5	increment	increment	NOUN
ajst-17392	65	6	is	be	AUX
ajst-17392	65	7	:	:	PUNCT
ajst-17392	65	8			NOUN
ajst-17392	65	9			SYM
ajst-17392	65	10			NOUN
ajst-17392	65	11			PUNCT
ajst-17392	65	12	cos	cos	PROPN
ajst-17392	65	13	sin	sin	PROPN
ajst-17392	65	14	t	t	PROPN
ajst-17392	65	15	t	t	PROPN
ajst-17392	65	16	t	t	PROPN
ajst-17392	65	17	t	t	PROPN
ajst-17392	65	18	x	x	PROPN
ajst-17392	65	19	v	v	ADP
ajst-17392	65	20	t	t	X
ajst-17392	65	21	y	y	PROPN
ajst-17392	65	22	v	v	INTJ
ajst-17392	65	23	t	t	X
ajst-17392	65	24	t	t	NOUN
ajst-17392	65	25			PROPN
ajst-17392	65	26			PROPN
ajst-17392	65	27			PROPN
ajst-17392	66	1			PROPN
ajst-17392	66	2			X
ajst-17392	66	3			NUM
ajst-17392	66	4			NOUN
ajst-17392	66	5			NUM
ajst-17392	66	6			NOUN
ajst-17392	66	7			NUM
ajst-17392	66	8			PROPN
ajst-17392	66	9			PROPN
ajst-17392	66	10			PROPN
ajst-17392	66	11			PROPN
ajst-17392	66	12	the	the	DET
ajst-17392	66	13	bit	bit	NOUN
ajst-17392	66	14	position	position	NOUN
ajst-17392	66	15	at	at	ADP
ajst-17392	66	16	the	the	DET
ajst-17392	66	17	moment	moment	NOUN
ajst-17392	66	18	t+1	t+1	PRON
ajst-17392	66	19	can	can	AUX
ajst-17392	66	20	be	be	AUX
ajst-17392	66	21	expressed	express	VERB
ajst-17392	66	22	as	as	ADP
ajst-17392	66	23	:	:	PUNCT
ajst-17392	66	24			NOUN
ajst-17392	66	25			PROPN
ajst-17392	66	26			NOUN
ajst-17392	66	27			SYM
ajst-17392	66	28			NOUN
ajst-17392	66	29			SYM
ajst-17392	66	30			NOUN
ajst-17392	66	31			SYM
ajst-17392	66	32			NOUN
ajst-17392	66	33			SYM
ajst-17392	66	34			NOUN
ajst-17392	66	35			SYM
ajst-17392	66	36			NOUN
ajst-17392	66	37			SYM
ajst-17392	66	38			NOUN
ajst-17392	66	39			PUNCT
ajst-17392	66	40	x	x	SYM
ajst-17392	66	41	1	1	NUM
ajst-17392	66	42	cos	cos	PROPN
ajst-17392	66	43	y	y	PROPN
ajst-17392	66	44	1	1	NUM
ajst-17392	66	45	sin	sin	NOUN
ajst-17392	66	46	1	1	NUM
ajst-17392	66	47	t	t	NOUN
ajst-17392	66	48	t	t	NOUN
ajst-17392	66	49	t	t	PROPN
ajst-17392	66	50	t	t	PROPN
ajst-17392	66	51	t	t	PROPN
ajst-17392	66	52	x	x	SYM
ajst-17392	66	53	t	t	PROPN
ajst-17392	66	54	v	v	NUM
ajst-17392	66	55	t	t	PROPN
ajst-17392	66	56	t	t	PROPN
ajst-17392	66	57	y	y	PROPN
ajst-17392	66	58	t	t	PROPN
ajst-17392	66	59	v	v	INTJ
ajst-17392	66	60	t	t	PROPN
ajst-17392	66	61	t	t	PROPN
ajst-17392	66	62	t	t	PROPN
ajst-17392	66	63	t	t	X
ajst-17392	66	64			PROPN
ajst-17392	66	65			X
ajst-17392	67	1			PROPN
ajst-17392	67	2			PROPN
ajst-17392	67	3			PROPN
ajst-17392	67	4			PROPN
ajst-17392	67	5			PROPN
ajst-17392	67	6			ADV
ajst-17392	67	7			X
ajst-17392	67	8			NUM
ajst-17392	67	9			NOUN
ajst-17392	67	10			PROPN
ajst-17392	67	11			ADV
ajst-17392	67	12			X
ajst-17392	67	13			NUM
ajst-17392	67	14			PROPN
ajst-17392	67	15			PROPN
ajst-17392	67	16			ADJ
ajst-17392	67	17			NOUN
ajst-17392	67	18	at	at	ADP
ajst-17392	67	19	this	this	DET
ajst-17392	67	20	point	point	NOUN
ajst-17392	67	21	,	,	PUNCT
ajst-17392	67	22	the	the	DET
ajst-17392	67	23	range	range	NOUN
ajst-17392	67	24	of	of	ADP
ajst-17392	67	25	variation	variation	NOUN
ajst-17392	67	26	of	of	ADP
ajst-17392	67	27	the	the	DET
ajst-17392	67	28	linear	linear	ADJ
ajst-17392	67	29	velocity	velocity	NOUN
ajst-17392	67	30	v(t	v(t	NOUN
ajst-17392	67	31	)	)	PUNCT
ajst-17392	67	32	and	and	CCONJ
ajst-17392	67	33	angular	angular	ADJ
ajst-17392	67	34	velocity	velocity	NOUN
ajst-17392	67	35	w(t	w(t	PROPN
ajst-17392	67	36	)	)	PUNCT
ajst-17392	67	37	is	be	AUX
ajst-17392	67	38	jointly	jointly	ADV
ajst-17392	67	39	determined	determine	VERB
ajst-17392	67	40	by	by	ADP
ajst-17392	67	41	the	the	DET
ajst-17392	67	42	distance	distance	NOUN
ajst-17392	67	43	of	of	ADP
ajst-17392	67	44	the	the	DET
ajst-17392	67	45	nearest	near	ADJ
ajst-17392	67	46	obstacle	obstacle	NOUN
ajst-17392	67	47	around	around	ADP
ajst-17392	67	48	it	it	PRON
ajst-17392	67	49	and	and	CCONJ
ajst-17392	67	50	the	the	DET
ajst-17392	67	51	respective	respective	ADJ
ajst-17392	67	52	79	79	NUM
ajst-17392	67	53	dynamic	dynamic	ADJ
ajst-17392	67	54	maximum	maximum	ADJ
ajst-17392	67	55	velocity	velocity	NOUN
ajst-17392	67	56	.	.	PUNCT
ajst-17392	68	1	3.2	3.2	NUM
ajst-17392	68	2	.	.	PUNCT
ajst-17392	69	1	velocity	velocity	NOUN
ajst-17392	69	2	sampling	sample	VERB
ajst-17392	69	3	multiple	multiple	ADJ
ajst-17392	69	4	velocity	velocity	NOUN
ajst-17392	69	5	pairs	pair	NOUN
ajst-17392	69	6	(	(	PUNCT
ajst-17392	69	7	v	v	NOUN
ajst-17392	69	8	,	,	PUNCT
ajst-17392	69	9	w	w	NOUN
ajst-17392	69	10	)	)	PUNCT
ajst-17392	69	11	can	can	AUX
ajst-17392	69	12	be	be	AUX
ajst-17392	69	13	sampled	sample	VERB
ajst-17392	69	14	for	for	ADP
ajst-17392	69	15	reference	reference	NOUN
ajst-17392	69	16	during	during	ADP
ajst-17392	69	17	robot	robot	NOUN
ajst-17392	69	18	motion	motion	NOUN
ajst-17392	69	19	,	,	PUNCT
ajst-17392	69	20	but	but	CCONJ
ajst-17392	69	21	in	in	ADP
ajst-17392	69	22	actual	actual	ADJ
ajst-17392	69	23	sampling	sampling	NOUN
ajst-17392	69	24	,	,	PUNCT
ajst-17392	69	25	velocity	velocity	NOUN
ajst-17392	69	26	sampling	sampling	NOUN
ajst-17392	69	27	is	be	AUX
ajst-17392	69	28	restrained	restrain	VERB
ajst-17392	69	29	to	to	ADP
ajst-17392	69	30	a	a	DET
ajst-17392	69	31	certain	certain	ADJ
ajst-17392	69	32	range	range	NOUN
ajst-17392	69	33	due	due	ADP
ajst-17392	69	34	to	to	ADP
ajst-17392	69	35	the	the	DET
ajst-17392	69	36	robot	robot	NOUN
ajst-17392	69	37	's	's	PART
ajst-17392	69	38	own	own	ADJ
ajst-17392	69	39	motor	motor	NOUN
ajst-17392	69	40	performance	performance	NOUN
ajst-17392	69	41	and	and	CCONJ
ajst-17392	69	42	braking	brake	VERB
ajst-17392	69	43	distance	distance	NOUN
ajst-17392	69	44	limitations	limitation	NOUN
ajst-17392	69	45	.	.	PUNCT
ajst-17392	70	1	constraints	constraint	NOUN
ajst-17392	70	2	on	on	ADP
ajst-17392	70	3	the	the	DET
ajst-17392	70	4	robot	robot	NOUN
ajst-17392	70	5	's	's	PART
ajst-17392	70	6	own	own	ADJ
ajst-17392	70	7	posture	posture	NOUN
ajst-17392	70	8	:	:	PUNCT
ajst-17392	70	9			PROPN
ajst-17392	71	1			PROPN
ajst-17392	71	2			ADJ
ajst-17392	71	3			ADP
ajst-17392	71	4			NOUN
ajst-17392	71	5			NOUN
ajst-17392	71	6	m	m	NOUN
ajst-17392	71	7	min	min	PROPN
ajst-17392	71	8	max	max	PROPN
ajst-17392	71	9	min	min	PROPN
ajst-17392	71	10	max	max	PROPN
ajst-17392	71	11	,	,	PUNCT
ajst-17392	71	12	|	|	ADV
ajst-17392	71	13	,	,	PUNCT
ajst-17392	71	14	,	,	PUNCT
ajst-17392	71	15	,	,	PUNCT
ajst-17392	71	16	v	v	X
ajst-17392	71	17	v	v	NUM
ajst-17392	71	18	v	v	NOUN
ajst-17392	71	19	v	v	NOUN
ajst-17392	71	20	v	v	NOUN
ajst-17392	72	1			X
ajst-17392	72	2			X
ajst-17392	72	3			SYM
ajst-17392	72	4			PROPN
ajst-17392	72	5			PROPN
ajst-17392	72	6	where	where	SCONJ
ajst-17392	72	7	:	:	PUNCT
ajst-17392	72	8	vmin	vmin	NOUN
ajst-17392	72	9	and	and	CCONJ
ajst-17392	72	10	vmax	vmax	PROPN
ajst-17392	72	11	are	be	AUX
ajst-17392	72	12	both	both	CCONJ
ajst-17392	72	13	the	the	DET
ajst-17392	72	14	minimum	minimum	ADJ
ajst-17392	72	15	and	and	CCONJ
ajst-17392	72	16	maximum	maximum	ADJ
ajst-17392	72	17	linear	linear	ADJ
ajst-17392	72	18	velocities	velocity	NOUN
ajst-17392	72	19	during	during	ADP
ajst-17392	72	20	robot	robot	NOUN
ajst-17392	72	21	motion	motion	NOUN
ajst-17392	72	22	,	,	PUNCT
ajst-17392	72	23	and	and	CCONJ
ajst-17392	72	24	wmin	wmin	VERB
ajst-17392	72	25	and	and	CCONJ
ajst-17392	72	26	wmax	wmax	ADV
ajst-17392	72	27	are	be	AUX
ajst-17392	72	28	the	the	DET
ajst-17392	72	29	minimum	minimum	ADJ
ajst-17392	72	30	and	and	CCONJ
ajst-17392	72	31	maximum	maximum	ADJ
ajst-17392	72	32	angular	angular	ADJ
ajst-17392	72	33	velocities	velocity	NOUN
ajst-17392	72	34	during	during	ADP
ajst-17392	72	35	robot	robot	NOUN
ajst-17392	72	36	motion	motion	NOUN
ajst-17392	72	37	.	.	PUNCT
ajst-17392	73	1	motor	motor	NOUN
ajst-17392	73	2	acceleration	acceleration	NOUN
ajst-17392	73	3	and	and	CCONJ
ajst-17392	73	4	deceleration	deceleration	NOUN
ajst-17392	73	5	constraints	constraint	NOUN
ajst-17392	73	6	:	:	PUNCT
ajst-17392	73	7			PROPN
ajst-17392	74	1			PROPN
ajst-17392	74	2			ADJ
ajst-17392	74	3			ADP
ajst-17392	74	4			ADJ
ajst-17392	74	5			PROPN
ajst-17392	74	6			PROPN
ajst-17392	74	7	,	,	PUNCT
ajst-17392	74	8	|	|	ADV
ajst-17392	74	9	,	,	PUNCT
ajst-17392	74	10	,	,	PUNCT
ajst-17392	74	11	,	,	PUNCT
ajst-17392	74	12	d	d	PROPN
ajst-17392	74	13	c	c	PROPN
ajst-17392	74	14	b	b	PROPN
ajst-17392	74	15	c	c	PROPN
ajst-17392	74	16	a	a	DET
ajst-17392	74	17	c	c	NOUN
ajst-17392	74	18	b	b	PROPN
ajst-17392	74	19	c	c	X
ajst-17392	74	20	av	av	PROPN
ajst-17392	74	21	v	v	INTJ
ajst-17392	74	22	v	v	NUM
ajst-17392	74	23	v	v	NOUN
ajst-17392	74	24	v	v	ADP
ajst-17392	74	25	dt	dt	NOUN
ajst-17392	74	26	v	v	ADP
ajst-17392	74	27	v	v	NOUN
ajst-17392	74	28	dt	dt	NOUN
ajst-17392	74	29	dt	dt	X
ajst-17392	74	30	dt	dt	PROPN
ajst-17392	74	31			PROPN
ajst-17392	74	32			X
ajst-17392	74	33			X
ajst-17392	74	34			X
ajst-17392	74	35			X
ajst-17392	74	36			PROPN
ajst-17392	74	37			PROPN
ajst-17392	74	38			PUNCT
ajst-17392	74	39			NOUN
ajst-17392	74	40			PROPN
ajst-17392	74	41			NOUN
ajst-17392	74	42			NOUN
ajst-17392	74	43			NOUN
ajst-17392	74	44	where	where	SCONJ
ajst-17392	74	45	:	:	PUNCT
ajst-17392	74	46	vc	vc	PROPN
ajst-17392	74	47	and	and	CCONJ
ajst-17392	74	48	wc	wc	PROPN
ajst-17392	74	49	are	be	AUX
ajst-17392	74	50	the	the	DET
ajst-17392	74	51	current	current	ADJ
ajst-17392	74	52	linear	linear	ADJ
ajst-17392	74	53	and	and	CCONJ
ajst-17392	74	54	angular	angular	ADJ
ajst-17392	74	55	velocities	velocity	NOUN
ajst-17392	74	56	;	;	PUNCT
ajst-17392	74	57	va	va	PROPN
ajst-17392	74	58	is	be	AUX
ajst-17392	74	59	the	the	DET
ajst-17392	74	60	maximum	maximum	ADJ
ajst-17392	74	61	linear	linear	ADJ
ajst-17392	74	62	acceleration	acceleration	NOUN
ajst-17392	74	63	and	and	CCONJ
ajst-17392	74	64	wa	wa	NOUN
ajst-17392	74	65	is	be	AUX
ajst-17392	74	66	the	the	DET
ajst-17392	74	67	maximum	maximum	ADJ
ajst-17392	74	68	angular	angular	ADJ
ajst-17392	74	69	acceleration	acceleration	NOUN
ajst-17392	74	70	;	;	PUNCT
ajst-17392	74	71	vb	vb	NOUN
ajst-17392	74	72	is	be	AUX
ajst-17392	74	73	the	the	DET
ajst-17392	74	74	maximum	maximum	ADJ
ajst-17392	74	75	linear	linear	ADJ
ajst-17392	74	76	deceleration	deceleration	NOUN
ajst-17392	74	77	and	and	CCONJ
ajst-17392	74	78	wb	wb	PROPN
ajst-17392	74	79	is	be	AUX
ajst-17392	74	80	the	the	DET
ajst-17392	74	81	maximum	maximum	ADJ
ajst-17392	74	82	angular	angular	ADJ
ajst-17392	74	83	deceleration	deceleration	NOUN
ajst-17392	74	84	.	.	PUNCT
ajst-17392	75	1	emergency	emergency	NOUN
ajst-17392	75	2	braking	brake	VERB
ajst-17392	75	3	displacement	displacement	ADJ
ajst-17392	75	4	constraints	constraint	NOUN
ajst-17392	75	5	:	:	PUNCT
ajst-17392	75	6			NOUN
ajst-17392	75	7			SYM
ajst-17392	75	8			NOUN
ajst-17392	75	9			NOUN
ajst-17392	75	10			PUNCT
ajst-17392	75	11			PROPN
ajst-17392	75	12			NOUN
ajst-17392	75	13			ADJ
ajst-17392	75	14	1	1	ADV
ajst-17392	75	15	2	2	NUM
ajst-17392	75	16	1	1	NUM
ajst-17392	75	17	2	2	NUM
ajst-17392	75	18	,	,	PUNCT
ajst-17392	75	19	|	|	ADV
ajst-17392	75	20	2	2	NUM
ajst-17392	75	21	,	,	PUNCT
ajst-17392	75	22	,	,	PUNCT
ajst-17392	75	23	2	2	NUM
ajst-17392	75	24	,	,	PUNCT
ajst-17392	75	25	a	a	DET
ajst-17392	75	26	b	b	PROPN
ajst-17392	75	27	bv	bv	PROPN
ajst-17392	75	28	v	v	PROPN
ajst-17392	75	29	v	v	PROPN
ajst-17392	75	30	dist	dist	NOUN
ajst-17392	75	31	v	v	ADP
ajst-17392	75	32	v	v	NOUN
ajst-17392	75	33	dist	dist	NOUN
ajst-17392	75	34	v	v	NOUN
ajst-17392	76	1			X
ajst-17392	76	2			X
ajst-17392	76	3			X
ajst-17392	76	4			X
ajst-17392	76	5			NUM
ajst-17392	76	6			NOUN
ajst-17392	76	7	when	when	SCONJ
ajst-17392	76	8	the	the	DET
ajst-17392	76	9	robot	robot	NOUN
ajst-17392	76	10	movement	movement	NOUN
ajst-17392	76	11	process	process	NOUN
ajst-17392	76	12	suddenly	suddenly	ADV
ajst-17392	76	13	appeared	appear	VERB
ajst-17392	76	14	with	with	ADP
ajst-17392	76	15	the	the	DET
ajst-17392	76	16	obstacle	obstacle	NOUN
ajst-17392	76	17	,	,	PUNCT
ajst-17392	76	18	in	in	ADP
ajst-17392	76	19	order	order	NOUN
ajst-17392	76	20	to	to	PART
ajst-17392	76	21	ensure	ensure	VERB
ajst-17392	76	22	the	the	DET
ajst-17392	76	23	safety	safety	NOUN
ajst-17392	76	24	of	of	ADP
ajst-17392	76	25	the	the	DET
ajst-17392	76	26	robot	robot	NOUN
ajst-17392	76	27	itself	itself	PRON
ajst-17392	76	28	under	under	ADP
ajst-17392	76	29	the	the	DET
ajst-17392	76	30	premise	premise	NOUN
ajst-17392	76	31	and	and	CCONJ
ajst-17392	76	32	the	the	DET
ajst-17392	76	33	maximum	maximum	ADJ
ajst-17392	76	34	deceleration	deceleration	NOUN
ajst-17392	76	35	conditions	condition	NOUN
ajst-17392	76	36	,	,	PUNCT
ajst-17392	76	37	it	it	PRON
ajst-17392	76	38	must	must	AUX
ajst-17392	76	39	stop	stop	VERB
ajst-17392	76	40	before	before	ADP
ajst-17392	76	41	hitting	hit	VERB
ajst-17392	76	42	the	the	DET
ajst-17392	76	43	obstacle	obstacle	NOUN
ajst-17392	76	44	.	.	PUNCT
ajst-17392	77	1	in	in	ADP
ajst-17392	77	2	the	the	DET
ajst-17392	77	3	above	above	ADJ
ajst-17392	77	4	equation	equation	NOUN
ajst-17392	77	5	:	:	PUNCT
ajst-17392	77	6	dist(v	dist(v	NOUN
ajst-17392	77	7	,	,	PUNCT
ajst-17392	77	8	w	w	NOUN
ajst-17392	77	9	)	)	PUNCT
ajst-17392	77	10	models	model	NOUN
ajst-17392	77	11	the	the	DET
ajst-17392	77	12	distance	distance	NOUN
ajst-17392	77	13	to	to	ADP
ajst-17392	77	14	the	the	DET
ajst-17392	77	15	nearest	near	ADJ
ajst-17392	77	16	obstacle	obstacle	NOUN
ajst-17392	77	17	in	in	ADP
ajst-17392	77	18	the	the	DET
ajst-17392	77	19	motion	motion	NOUN
ajst-17392	77	20	trajectory	trajectory	NOUN
ajst-17392	77	21	.	.	PUNCT
ajst-17392	78	1	the	the	DET
ajst-17392	78	2	above	above	ADJ
ajst-17392	78	3	three	three	NUM
ajst-17392	78	4	cases	case	NOUN
ajst-17392	78	5	constrain	constrain	VERB
ajst-17392	78	6	the	the	DET
ajst-17392	78	7	range	range	NOUN
ajst-17392	78	8	of	of	ADP
ajst-17392	78	9	the	the	DET
ajst-17392	78	10	robot	robot	NOUN
ajst-17392	78	11	's	's	PART
ajst-17392	78	12	moving	move	VERB
ajst-17392	78	13	speeds	speed	NOUN
ajst-17392	78	14	and	and	CCONJ
ajst-17392	78	15	provide	provide	VERB
ajst-17392	78	16	the	the	DET
ajst-17392	78	17	basis	basis	NOUN
ajst-17392	78	18	for	for	ADP
ajst-17392	78	19	the	the	DET
ajst-17392	78	20	subsequent	subsequent	ADJ
ajst-17392	78	21	dynamic	dynamic	ADJ
ajst-17392	78	22	window	window	NOUN
ajst-17392	78	23	.	.	PUNCT
ajst-17392	79	1	let	let	VERB
ajst-17392	79	2	the	the	DET
ajst-17392	79	3	set	set	NOUN
ajst-17392	79	4	of	of	ADP
ajst-17392	79	5	linear	linear	ADJ
ajst-17392	79	6	velocities	velocity	NOUN
ajst-17392	79	7	of	of	ADP
ajst-17392	79	8	the	the	DET
ajst-17392	79	9	robot	robot	NOUN
ajst-17392	79	10	be	be	AUX
ajst-17392	79	11	vr	vr	PROPN
ajst-17392	79	12	,	,	PUNCT
ajst-17392	79	13	then	then	ADV
ajst-17392	79	14	the	the	DET
ajst-17392	79	15	set	set	NOUN
ajst-17392	79	16	of	of	ADP
ajst-17392	79	17	velocities	velocity	NOUN
ajst-17392	79	18	of	of	ADP
ajst-17392	79	19	the	the	DET
ajst-17392	79	20	robot	robot	NOUN
ajst-17392	79	21	is	be	AUX
ajst-17392	79	22	:	:	PUNCT
ajst-17392	79	23	r	r	NOUN
ajst-17392	79	24	m	m	VERB
ajst-17392	79	25	d	d	NOUN
ajst-17392	79	26	av	av	PROPN
ajst-17392	79	27	v	v	X
ajst-17392	79	28	v	v	ADP
ajst-17392	79	29	v	v	NOUN
ajst-17392	79	30			PRON
ajst-17392	79	31			ADP
ajst-17392	79	32	3.3	3.3	NUM
ajst-17392	79	33	.	.	PUNCT
ajst-17392	80	1	improvement	improvement	NOUN
ajst-17392	80	2	of	of	ADP
ajst-17392	80	3	the	the	DET
ajst-17392	80	4	evaluation	evaluation	NOUN
ajst-17392	80	5	function	function	NOUN
ajst-17392	80	6	the	the	DET
ajst-17392	80	7	critical	critical	ADJ
ajst-17392	80	8	problem	problem	NOUN
ajst-17392	80	9	in	in	ADP
ajst-17392	80	10	the	the	DET
ajst-17392	80	11	traditional	traditional	ADJ
ajst-17392	80	12	wda	wda	NOUN
ajst-17392	80	13	algorithm	algorithm	PROPN
ajst-17392	80	14	is	be	AUX
ajst-17392	80	15	that	that	SCONJ
ajst-17392	80	16	the	the	DET
ajst-17392	80	17	dynamic	dynamic	ADJ
ajst-17392	80	18	window	window	NOUN
ajst-17392	80	19	during	during	ADP
ajst-17392	80	20	the	the	DET
ajst-17392	80	21	global	global	ADJ
ajst-17392	80	22	simulation	simulation	NOUN
ajst-17392	80	23	process	process	NOUN
ajst-17392	80	24	using	use	VERB
ajst-17392	80	25	dwa	dwa	PROPN
ajst-17392	80	26	in	in	ADP
ajst-17392	80	27	combination	combination	NOUN
ajst-17392	80	28	with	with	ADP
ajst-17392	80	29	global	global	ADJ
ajst-17392	80	30	simulation	simulation	NOUN
ajst-17392	80	31	can	can	AUX
ajst-17392	80	32	easily	easily	ADV
ajst-17392	80	33	fall	fall	VERB
ajst-17392	80	34	into	into	ADP
ajst-17392	80	35	the	the	DET
ajst-17392	80	36	local	local	ADJ
ajst-17392	80	37	optimal	optimal	ADJ
ajst-17392	80	38	situation	situation	NOUN
ajst-17392	80	39	.	.	PUNCT
ajst-17392	81	1	in	in	ADP
ajst-17392	81	2	order	order	NOUN
ajst-17392	81	3	to	to	PART
ajst-17392	81	4	solve	solve	VERB
ajst-17392	81	5	this	this	DET
ajst-17392	81	6	critical	critical	ADJ
ajst-17392	81	7	problem	problem	NOUN
ajst-17392	81	8	,	,	PUNCT
ajst-17392	81	9	the	the	DET
ajst-17392	81	10	optimal	optimal	ADJ
ajst-17392	81	11	paths	path	NOUN
ajst-17392	81	12	are	be	AUX
ajst-17392	81	13	filtered	filter	VERB
ajst-17392	81	14	by	by	ADP
ajst-17392	81	15	an	an	DET
ajst-17392	81	16	improved	improved	ADJ
ajst-17392	81	17	evaluation	evaluation	NOUN
ajst-17392	81	18	function	function	NOUN
ajst-17392	81	19	after	after	ADP
ajst-17392	81	20	simulating	simulate	VERB
ajst-17392	81	21	multiple	multiple	ADJ
ajst-17392	81	22	global	global	ADJ
ajst-17392	81	23	trajectories	trajectory	NOUN
ajst-17392	81	24	based	base	VERB
ajst-17392	81	25	on	on	ADP
ajst-17392	81	26	the	the	DET
ajst-17392	81	27	range	range	NOUN
ajst-17392	81	28	of	of	ADP
ajst-17392	81	29	motion	motion	NOUN
ajst-17392	81	30	speeds	speed	NOUN
ajst-17392	81	31	and	and	CCONJ
ajst-17392	81	32	robot	robot	NOUN
ajst-17392	81	33	model	model	NOUN
ajst-17392	81	34	settings	setting	NOUN
ajst-17392	81	35	.	.	PUNCT
ajst-17392	82	1	the	the	DET
ajst-17392	82	2	improved	improved	ADJ
ajst-17392	82	3	evaluation	evaluation	NOUN
ajst-17392	82	4	function	function	NOUN
ajst-17392	82	5	equation	equation	NOUN
ajst-17392	82	6	is	be	AUX
ajst-17392	82	7	as	as	SCONJ
ajst-17392	82	8	follows	follow	VERB
ajst-17392	82	9	:	:	PUNCT
ajst-17392	82	10			NOUN
ajst-17392	83	1			SYM
ajst-17392	83	2			NOUN
ajst-17392	83	3			SYM
ajst-17392	83	4			NOUN
ajst-17392	83	5			PUNCT
ajst-17392	83	6			PROPN
ajst-17392	83	7			PROPN
ajst-17392	83	8	,	,	PUNCT
ajst-17392	83	9	,	,	PUNCT
ajst-17392	83	10	,	,	PUNCT
ajst-17392	83	11	,	,	PUNCT
ajst-17392	83	12	e	e	X
ajst-17392	83	13	v	v	AUX
ajst-17392	83	14	phead	phead	VERB
ajst-17392	83	15	v	v	NUM
ajst-17392	83	16	dist	dist	NOUN
ajst-17392	83	17	v	v	ADP
ajst-17392	83	18	vel	vel	ADJ
ajst-17392	83	19	v	v	NOUN
ajst-17392	83	20			NOUN
ajst-17392	83	21			PROPN
ajst-17392	83	22			PROPN
ajst-17392	83	23			X
ajst-17392	83	24			PROPN
ajst-17392	83	25			PUNCT
ajst-17392	83	26			ADV
ajst-17392	83	27			PUNCT
ajst-17392	83	28	where	where	SCONJ
ajst-17392	83	29	:	:	PUNCT
ajst-17392	83	30	phead(v	phead(v	ADJ
ajst-17392	83	31	,	,	PUNCT
ajst-17392	83	32	w	w	NOUN
ajst-17392	83	33	)	)	PUNCT
ajst-17392	83	34	is	be	AUX
ajst-17392	83	35	the	the	DET
ajst-17392	83	36	angular	angular	ADJ
ajst-17392	83	37	difference	difference	NOUN
ajst-17392	83	38	between	between	ADP
ajst-17392	83	39	the	the	DET
ajst-17392	83	40	end	end	NOUN
ajst-17392	83	41	direction	direction	NOUN
ajst-17392	83	42	of	of	ADP
ajst-17392	83	43	the	the	DET
ajst-17392	83	44	trajectory	trajectory	NOUN
ajst-17392	83	45	and	and	CCONJ
ajst-17392	83	46	the	the	DET
ajst-17392	83	47	target	target	NOUN
ajst-17392	83	48	direction	direction	NOUN
ajst-17392	83	49	of	of	ADP
ajst-17392	83	50	the	the	DET
ajst-17392	83	51	current	current	ADJ
ajst-17392	83	52	node	node	NOUN
ajst-17392	83	53	;	;	PUNCT
ajst-17392	83	54	dist(v	dist(v	PROPN
ajst-17392	83	55	,	,	PUNCT
ajst-17392	83	56	w	w	NOUN
ajst-17392	83	57	)	)	PUNCT
ajst-17392	83	58	is	be	AUX
ajst-17392	83	59	the	the	DET
ajst-17392	83	60	distance	distance	NOUN
ajst-17392	83	61	between	between	ADP
ajst-17392	83	62	the	the	DET
ajst-17392	83	63	trajectory	trajectory	NOUN
ajst-17392	83	64	and	and	CCONJ
ajst-17392	83	65	the	the	DET
ajst-17392	83	66	nearest	near	ADJ
ajst-17392	83	67	obstacle	obstacle	NOUN
ajst-17392	83	68	;	;	PUNCT
ajst-17392	83	69	vel(v	vel(v	NUM
ajst-17392	83	70	,	,	PUNCT
ajst-17392	83	71	w	w	NOUN
ajst-17392	83	72	)	)	PUNCT
ajst-17392	83	73	is	be	AUX
ajst-17392	83	74	the	the	DET
ajst-17392	83	75	evaluation	evaluation	NOUN
ajst-17392	83	76	function	function	NOUN
ajst-17392	83	77	of	of	ADP
ajst-17392	83	78	the	the	DET
ajst-17392	83	79	current	current	ADJ
ajst-17392	83	80	speed	speed	NOUN
ajst-17392	83	81	;	;	PUNCT
ajst-17392	83	82	α	α	X
ajst-17392	83	83	,	,	PUNCT
ajst-17392	83	84	β	β	X
ajst-17392	83	85	,	,	PUNCT
ajst-17392	83	86	γ	γ	NOUN
ajst-17392	83	87	are	be	AUX
ajst-17392	83	88	the	the	DET
ajst-17392	83	89	weighting	weighting	NOUN
ajst-17392	83	90	coefficients	coefficient	NOUN
ajst-17392	83	91	.	.	PUNCT
ajst-17392	84	1	the	the	DET
ajst-17392	84	2	planned	plan	VERB
ajst-17392	84	3	path	path	NOUN
ajst-17392	84	4	improved	improve	VERB
ajst-17392	84	5	with	with	ADP
ajst-17392	84	6	this	this	DET
ajst-17392	84	7	evaluation	evaluation	NOUN
ajst-17392	84	8	function	function	NOUN
ajst-17392	84	9	is	be	AUX
ajst-17392	84	10	not	not	PART
ajst-17392	84	11	only	only	ADV
ajst-17392	84	12	able	able	ADJ
ajst-17392	84	13	to	to	PART
ajst-17392	84	14	avoid	avoid	VERB
ajst-17392	84	15	random	random	ADJ
ajst-17392	84	16	obstacles	obstacle	NOUN
ajst-17392	84	17	,	,	PUNCT
ajst-17392	84	18	but	but	CCONJ
ajst-17392	84	19	also	also	ADV
ajst-17392	84	20	more	more	ADV
ajst-17392	84	21	closely	closely	ADV
ajst-17392	84	22	fits	fit	VERB
ajst-17392	84	23	the	the	DET
ajst-17392	84	24	globally	globally	ADV
ajst-17392	84	25	optimal	optimal	ADJ
ajst-17392	84	26	path	path	NOUN
ajst-17392	84	27	traveling	travel	VERB
ajst-17392	84	28	.	.	PUNCT
ajst-17392	85	1	4	4	X
ajst-17392	85	2	.	.	NUM
ajst-17392	85	3	improved	improve	VERB
ajst-17392	85	4	fusion	fusion	NOUN
ajst-17392	85	5	algorithm	algorithm	NOUN
ajst-17392	85	6	for	for	ADP
ajst-17392	85	7	a	a	PRON
ajst-17392	85	8	*	*	PUNCT
ajst-17392	85	9	and	and	CCONJ
ajst-17392	85	10	dwa	dwa	VERB
ajst-17392	85	11	in	in	ADP
ajst-17392	85	12	this	this	DET
ajst-17392	85	13	paper	paper	NOUN
ajst-17392	85	14	,	,	PUNCT
ajst-17392	85	15	we	we	PRON
ajst-17392	85	16	integrate	integrate	VERB
ajst-17392	85	17	the	the	DET
ajst-17392	85	18	improved	improved	ADJ
ajst-17392	85	19	a	a	DET
ajst-17392	85	20	*	*	ADJ
ajst-17392	85	21	algorithm	algorithm	NOUN
ajst-17392	85	22	and	and	CCONJ
ajst-17392	85	23	the	the	DET
ajst-17392	85	24	dynamic	dynamic	ADJ
ajst-17392	85	25	window	window	NOUN
ajst-17392	85	26	to	to	PART
ajst-17392	85	27	make	make	VERB
ajst-17392	85	28	the	the	DET
ajst-17392	85	29	path	path	NOUN
ajst-17392	85	30	planning	plan	VERB
ajst-17392	85	31	not	not	PART
ajst-17392	85	32	only	only	ADV
ajst-17392	85	33	conform	conform	VERB
ajst-17392	85	34	to	to	ADP
ajst-17392	85	35	the	the	DET
ajst-17392	85	36	global	global	ADJ
ajst-17392	85	37	optimum	optimum	NOUN
ajst-17392	85	38	but	but	CCONJ
ajst-17392	85	39	also	also	ADV
ajst-17392	85	40	have	have	VERB
ajst-17392	85	41	the	the	DET
ajst-17392	85	42	ability	ability	NOUN
ajst-17392	85	43	of	of	ADP
ajst-17392	85	44	obstacle	obstacle	NOUN
ajst-17392	85	45	avoidance	avoidance	NOUN
ajst-17392	85	46	with	with	ADP
ajst-17392	85	47	local	local	ADJ
ajst-17392	85	48	refinement	refinement	NOUN
ajst-17392	85	49	.	.	PUNCT
ajst-17392	86	1	the	the	DET
ajst-17392	86	2	idea	idea	NOUN
ajst-17392	86	3	of	of	ADP
ajst-17392	86	4	fusion	fusion	NOUN
ajst-17392	86	5	:	:	PUNCT
ajst-17392	86	6	use	use	VERB
ajst-17392	86	7	the	the	DET
ajst-17392	86	8	improved	improved	ADJ
ajst-17392	86	9	a	a	DET
ajst-17392	86	10	*	*	ADJ
ajst-17392	86	11	algorithm	algorithm	NOUN
ajst-17392	86	12	to	to	PART
ajst-17392	86	13	plan	plan	VERB
ajst-17392	86	14	the	the	DET
ajst-17392	86	15	global	global	ADJ
ajst-17392	86	16	optimal	optimal	ADJ
ajst-17392	86	17	path	path	NOUN
ajst-17392	86	18	,	,	PUNCT
ajst-17392	86	19	get	get	VERB
ajst-17392	86	20	the	the	DET
ajst-17392	86	21	groups	group	NOUN
ajst-17392	86	22	of	of	ADP
ajst-17392	86	23	nodes	node	NOUN
ajst-17392	86	24	in	in	ADP
ajst-17392	86	25	the	the	DET
ajst-17392	86	26	global	global	ADJ
ajst-17392	86	27	optimum	optimum	NOUN
ajst-17392	86	28	,	,	PUNCT
ajst-17392	86	29	use	use	VERB
ajst-17392	86	30	the	the	DET
ajst-17392	86	31	dwa	dwa	PROPN
ajst-17392	86	32	dynamic	dynamic	ADJ
ajst-17392	86	33	window	window	NOUN
ajst-17392	86	34	combined	combine	VERB
ajst-17392	86	35	with	with	ADP
ajst-17392	86	36	folyd	folyd	NOUN
ajst-17392	86	37	to	to	PART
ajst-17392	86	38	perform	perform	VERB
ajst-17392	86	39	local	local	ADJ
ajst-17392	86	40	optimal	optimal	ADJ
ajst-17392	86	41	solutions	solution	NOUN
ajst-17392	86	42	between	between	ADP
ajst-17392	86	43	neighboring	neighbor	VERB
ajst-17392	86	44	pairs	pair	NOUN
ajst-17392	86	45	of	of	ADP
ajst-17392	86	46	nodes	node	NOUN
ajst-17392	86	47	,	,	PUNCT
ajst-17392	86	48	and	and	CCONJ
ajst-17392	86	49	finally	finally	ADV
ajst-17392	86	50	get	get	VERB
ajst-17392	86	51	the	the	DET
ajst-17392	86	52	improved	improve	VERB
ajst-17392	86	53	global	global	ADJ
ajst-17392	86	54	optimal	optimal	ADJ
ajst-17392	86	55	path	path	NOUN
ajst-17392	86	56	planning	planning	NOUN
ajst-17392	86	57	.	.	PUNCT
ajst-17392	87	1	the	the	DET
ajst-17392	87	2	flow	flow	NOUN
ajst-17392	87	3	of	of	ADP
ajst-17392	87	4	the	the	DET
ajst-17392	87	5	fusion	fusion	NOUN
ajst-17392	87	6	algorithm	algorithm	NOUN
ajst-17392	87	7	of	of	ADP
ajst-17392	87	8	the	the	DET
ajst-17392	87	9	improved	improved	ADJ
ajst-17392	87	10	a	a	PRON
ajst-17392	87	11	*	*	PUNCT
ajst-17392	87	12	and	and	CCONJ
ajst-17392	87	13	dwa	dwa	PROPN
ajst-17392	87	14	is	be	AUX
ajst-17392	87	15	shown	show	VERB
ajst-17392	87	16	in	in	ADP
ajst-17392	87	17	fig	fig	NOUN
ajst-17392	87	18	.	.	PUNCT
ajst-17392	88	1	1	1	NUM
ajst-17392	88	2	:	:	PUNCT
ajst-17392	88	3	figure	figure	NOUN
ajst-17392	88	4	1	1	NUM
ajst-17392	88	5	.	.	PUNCT
ajst-17392	89	1	flowchart	flowchart	NOUN
ajst-17392	89	2	of	of	ADP
ajst-17392	89	3	fusion	fusion	NOUN
ajst-17392	89	4	algorithm	algorithm	NOUN
ajst-17392	89	5	for	for	ADP
ajst-17392	89	6	improved	improve	VERB
ajst-17392	89	7	a	a	PRON
ajst-17392	89	8	*	*	PUNCT
ajst-17392	89	9	and	and	CCONJ
ajst-17392	89	10	dwa	dwa	VERB
ajst-17392	89	11	5	5	NUM
ajst-17392	89	12	.	.	PUNCT
ajst-17392	89	13	simulation	simulation	NOUN
ajst-17392	89	14	experiment	experiment	NOUN
ajst-17392	89	15	in	in	ADP
ajst-17392	89	16	this	this	DET
ajst-17392	89	17	paper	paper	NOUN
ajst-17392	89	18	,	,	PUNCT
ajst-17392	89	19	the	the	DET
ajst-17392	89	20	experimental	experimental	ADJ
ajst-17392	89	21	simulation	simulation	NOUN
ajst-17392	89	22	in	in	ADP
ajst-17392	89	23	different	different	ADJ
ajst-17392	89	24	map	map	NOUN
ajst-17392	89	25	environments	environment	NOUN
ajst-17392	89	26	,	,	PUNCT
ajst-17392	89	27	respectively	respectively	ADV
ajst-17392	89	28	,	,	PUNCT
ajst-17392	89	29	compare	compare	VERB
ajst-17392	89	30	the	the	DET
ajst-17392	89	31	node	node	ADJ
ajst-17392	89	32	optimization	optimization	NOUN
ajst-17392	89	33	,	,	PUNCT
ajst-17392	89	34	folyd	folyd	NOUN
ajst-17392	89	35	optimization	optimization	NOUN
ajst-17392	89	36	and	and	CCONJ
ajst-17392	89	37	this	this	DET
ajst-17392	89	38	paper	paper	NOUN
ajst-17392	89	39	to	to	PART
ajst-17392	89	40	improve	improve	VERB
ajst-17392	89	41	the	the	DET
ajst-17392	89	42	a	a	NOUN
ajst-17392	89	43	*	*	ADJ
ajst-17392	89	44	algorithm	algorithm	NOUN
ajst-17392	89	45	to	to	PART
ajst-17392	89	46	optimize	optimize	VERB
ajst-17392	89	47	the	the	DET
ajst-17392	89	48	path	path	NOUN
ajst-17392	89	49	results	result	NOUN
ajst-17392	89	50	,	,	PUNCT
ajst-17392	89	51	the	the	DET
ajst-17392	89	52	environments	environment	NOUN
ajst-17392	89	53	are	be	AUX
ajst-17392	89	54	as	as	SCONJ
ajst-17392	89	55	follows	follow	VERB
ajst-17392	89	56	:	:	PUNCT
ajst-17392	89	57	scene	scene	NOUN
ajst-17392	89	58	1	1	NUM
ajst-17392	89	59	is	be	AUX
ajst-17392	89	60	a	a	DET
ajst-17392	89	61	25x25	25x25	NUM
ajst-17392	89	62	two	two	NUM
ajst-17392	89	63	-	-	PUNCT
ajst-17392	89	64	dimensional	dimensional	ADJ
ajst-17392	89	65	raster	raster	NOUN
ajst-17392	89	66	map	map	NOUN
ajst-17392	89	67	,	,	PUNCT
ajst-17392	89	68	the	the	DET
ajst-17392	89	69	starting	starting	NOUN
ajst-17392	89	70	point	point	NOUN
ajst-17392	89	71	of	of	ADP
ajst-17392	89	72	s(26,2	s(26,2	PROPN
ajst-17392	89	73	)	)	PUNCT
ajst-17392	89	74	,	,	PUNCT
ajst-17392	89	75	the	the	DET
ajst-17392	89	76	end	end	NOUN
ajst-17392	89	77	point	point	NOUN
ajst-17392	89	78	of	of	ADP
ajst-17392	89	79	the	the	DET
ajst-17392	89	80	t(2,26	t(2,26	NOUN
ajst-17392	89	81	)	)	PUNCT
ajst-17392	89	82	,	,	PUNCT
ajst-17392	89	83	the	the	DET
ajst-17392	89	84	fixed	fix	VERB
ajst-17392	89	85	obstacles	obstacle	NOUN
ajst-17392	89	86	accounted	account	VERB
ajst-17392	89	87	for	for	ADP
ajst-17392	89	88	nearly	nearly	ADV
ajst-17392	89	89	30	30	NUM
ajst-17392	89	90	%	%	NOUN
ajst-17392	89	91	;	;	PUNCT
ajst-17392	89	92	scene	scene	NOUN
ajst-17392	89	93	2	2	NUM
ajst-17392	89	94	is	be	AUX
ajst-17392	89	95	30x30	30x30	NUM
ajst-17392	89	96	two	two	NUM
ajst-17392	89	97	-	-	PUNCT
ajst-17392	89	98	dimensional	dimensional	ADJ
ajst-17392	89	99	raster	raster	NOUN
ajst-17392	89	100	map	map	NOUN
ajst-17392	89	101	,	,	PUNCT
ajst-17392	89	102	the	the	DET
ajst-17392	89	103	starting	starting	NOUN
ajst-17392	89	104	point	point	NOUN
ajst-17392	89	105	of	of	ADP
ajst-17392	89	106	the	the	DET
ajst-17392	89	107	s(31	s(31	NOUN
ajst-17392	89	108	,	,	PUNCT
ajst-17392	89	109	2	2	NUM
ajst-17392	89	110	)	)	PUNCT
ajst-17392	89	111	,	,	PUNCT
ajst-17392	89	112	ending	end	VERB
ajst-17392	89	113	at	at	ADP
ajst-17392	89	114	t(2,31	t(2,31	NOUN
ajst-17392	89	115	)	)	PUNCT
ajst-17392	89	116	,	,	PUNCT
ajst-17392	89	117	with	with	ADP
ajst-17392	89	118	35	35	NUM
ajst-17392	89	119	%	%	NOUN
ajst-17392	89	120	of	of	ADP
ajst-17392	89	121	fixed	fix	VERB
ajst-17392	89	122	obstacles	obstacle	NOUN
ajst-17392	89	123	;	;	PUNCT
ajst-17392	89	124	scene	scene	NOUN
ajst-17392	89	125	3	3	NUM
ajst-17392	89	126	is	be	AUX
ajst-17392	89	127	a	a	DET
ajst-17392	89	128	80	80	NUM
ajst-17392	89	129	35x35	35x35	NUM
ajst-17392	89	130	2d	2d	NUM
ajst-17392	89	131	raster	raster	NOUN
ajst-17392	89	132	map	map	NOUN
ajst-17392	89	133	,	,	PUNCT
ajst-17392	89	134	starting	start	VERB
ajst-17392	89	135	at	at	ADP
ajst-17392	89	136	s(36,2	s(36,2	PROPN
ajst-17392	89	137	)	)	PUNCT
ajst-17392	89	138	,	,	PUNCT
ajst-17392	89	139	ending	end	VERB
ajst-17392	89	140	at	at	ADP
ajst-17392	89	141	t(2,36	t(2,36	NOUN
ajst-17392	89	142	)	)	PUNCT
ajst-17392	89	143	,	,	PUNCT
ajst-17392	89	144	with	with	ADP
ajst-17392	89	145	38	38	NUM
ajst-17392	89	146	%	%	NOUN
ajst-17392	89	147	of	of	ADP
ajst-17392	89	148	fixed	fix	VERB
ajst-17392	89	149	obstacles	obstacle	NOUN
ajst-17392	89	150	.	.	PUNCT
ajst-17392	90	1	depending	depend	VERB
ajst-17392	90	2	on	on	ADP
ajst-17392	90	3	the	the	DET
ajst-17392	90	4	number	number	NOUN
ajst-17392	90	5	of	of	ADP
ajst-17392	90	6	random	random	ADJ
ajst-17392	90	7	obstacles	obstacle	NOUN
ajst-17392	90	8	added	added	AUX
ajst-17392	90	9	,	,	PUNCT
ajst-17392	90	10	the	the	DET
ajst-17392	90	11	performance	performance	NOUN
ajst-17392	90	12	exhibited	exhibit	VERB
ajst-17392	90	13	by	by	ADP
ajst-17392	90	14	each	each	DET
ajst-17392	90	15	algorithm	algorithm	NOUN
ajst-17392	90	16	is	be	AUX
ajst-17392	90	17	different	different	ADJ
ajst-17392	90	18	.	.	PUNCT
ajst-17392	91	1	first	first	ADV
ajst-17392	91	2	,	,	PUNCT
ajst-17392	91	3	take	take	VERB
ajst-17392	91	4	scene	scene	NOUN
ajst-17392	91	5	1	1	NUM
ajst-17392	91	6	as	as	ADP
ajst-17392	91	7	an	an	DET
ajst-17392	91	8	example	example	NOUN
ajst-17392	91	9	for	for	ADP
ajst-17392	91	10	comparison	comparison	NOUN
ajst-17392	91	11	:	:	PUNCT
ajst-17392	91	12	the	the	DET
ajst-17392	91	13	use	use	NOUN
ajst-17392	91	14	of	of	ADP
ajst-17392	91	15	floyd	floyd	PROPN
ajst-17392	91	16	optimization	optimization	NOUN
ajst-17392	91	17	makes	make	VERB
ajst-17392	91	18	the	the	DET
ajst-17392	91	19	planned	planned	ADJ
ajst-17392	91	20	path	path	NOUN
ajst-17392	91	21	more	more	ADV
ajst-17392	91	22	rounded	rounded	ADJ
ajst-17392	91	23	and	and	CCONJ
ajst-17392	91	24	safe	safe	ADJ
ajst-17392	91	25	,	,	PUNCT
ajst-17392	91	26	as	as	SCONJ
ajst-17392	91	27	shown	show	VERB
ajst-17392	91	28	in	in	ADP
ajst-17392	91	29	figure	figure	NOUN
ajst-17392	91	30	2	2	NUM
ajst-17392	91	31	:	:	PUNCT
ajst-17392	91	32	figure	figure	NOUN
ajst-17392	91	33	2	2	NUM
ajst-17392	91	34	.	.	PUNCT
ajst-17392	91	35	optimizing	optimize	VERB
ajst-17392	91	36	results	result	NOUN
ajst-17392	91	37	with	with	ADP
ajst-17392	91	38	floyd	floyd	PROPN
ajst-17392	91	39	second	second	PROPN
ajst-17392	91	40	,	,	PUNCT
ajst-17392	91	41	we	we	PRON
ajst-17392	91	42	continue	continue	VERB
ajst-17392	91	43	to	to	PART
ajst-17392	91	44	incorporate	incorporate	VERB
ajst-17392	91	45	node	node	ADJ
ajst-17392	91	46	optimization	optimization	NOUN
ajst-17392	91	47	in	in	ADP
ajst-17392	91	48	scenario	scenario	NOUN
ajst-17392	91	49	2	2	NUM
ajst-17392	91	50	to	to	PART
ajst-17392	91	51	make	make	VERB
ajst-17392	91	52	the	the	DET
ajst-17392	91	53	whole	whole	ADJ
ajst-17392	91	54	path	path	NOUN
ajst-17392	91	55	planning	plan	VERB
ajst-17392	91	56	more	more	ADV
ajst-17392	91	57	explicit	explicit	ADJ
ajst-17392	91	58	,	,	PUNCT
ajst-17392	91	59	not	not	PART
ajst-17392	91	60	only	only	ADV
ajst-17392	91	61	increasing	increase	VERB
ajst-17392	91	62	the	the	DET
ajst-17392	91	63	direction	direction	NOUN
ajst-17392	91	64	angle	angle	NOUN
ajst-17392	91	65	during	during	ADP
ajst-17392	91	66	the	the	DET
ajst-17392	91	67	search	search	NOUN
ajst-17392	91	68	process	process	NOUN
ajst-17392	91	69	,	,	PUNCT
ajst-17392	91	70	but	but	CCONJ
ajst-17392	91	71	also	also	ADV
ajst-17392	91	72	eliminating	eliminate	VERB
ajst-17392	91	73	the	the	DET
ajst-17392	91	74	redundant	redundant	ADJ
ajst-17392	91	75	nodes	node	NOUN
ajst-17392	91	76	to	to	PART
ajst-17392	91	77	achieve	achieve	VERB
ajst-17392	91	78	a	a	DET
ajst-17392	91	79	better	well	ADJ
ajst-17392	91	80	planning	planning	NOUN
ajst-17392	91	81	effect	effect	NOUN
ajst-17392	91	82	,	,	PUNCT
ajst-17392	91	83	as	as	SCONJ
ajst-17392	91	84	shown	show	VERB
ajst-17392	91	85	in	in	ADP
ajst-17392	91	86	fig	fig	NOUN
ajst-17392	91	87	.	.	PUNCT
ajst-17392	92	1	3	3	NUM
ajst-17392	92	2	:	:	PUNCT
ajst-17392	92	3	figure	figure	NOUN
ajst-17392	92	4	3	3	NUM
ajst-17392	92	5	.	.	NOUN
ajst-17392	92	6	results	result	NOUN
ajst-17392	92	7	of	of	ADP
ajst-17392	92	8	fusion	fusion	NOUN
ajst-17392	92	9	node	node	NOUN
ajst-17392	92	10	optimization	optimization	NOUN
ajst-17392	92	11	finally	finally	ADV
ajst-17392	92	12	,	,	PUNCT
ajst-17392	92	13	we	we	PRON
ajst-17392	92	14	combine	combine	VERB
ajst-17392	92	15	the	the	DET
ajst-17392	92	16	dwa	dwa	PROPN
ajst-17392	92	17	dynamic	dynamic	ADJ
ajst-17392	92	18	window	window	NOUN
ajst-17392	92	19	to	to	PART
ajst-17392	92	20	complete	complete	VERB
ajst-17392	92	21	the	the	DET
ajst-17392	92	22	improvement	improvement	NOUN
ajst-17392	92	23	of	of	ADP
ajst-17392	92	24	the	the	DET
ajst-17392	92	25	whole	whole	ADJ
ajst-17392	92	26	algorithm	algorithm	NOUN
ajst-17392	92	27	,	,	PUNCT
ajst-17392	92	28	by	by	ADP
ajst-17392	92	29	improving	improve	VERB
ajst-17392	92	30	the	the	DET
ajst-17392	92	31	node	node	ADJ
ajst-17392	92	32	search	search	NOUN
ajst-17392	92	33	and	and	CCONJ
ajst-17392	92	34	cost	cost	NOUN
ajst-17392	92	35	function	function	NOUN
ajst-17392	92	36	of	of	ADP
ajst-17392	92	37	the	the	DET
ajst-17392	92	38	a	a	PROPN
ajst-17392	92	39	*	*	X
ajst-17392	92	40	algorithm	algorithm	NOUN
ajst-17392	92	41	,	,	PUNCT
ajst-17392	92	42	together	together	ADV
ajst-17392	92	43	with	with	ADP
ajst-17392	92	44	the	the	DET
ajst-17392	92	45	fusion	fusion	NOUN
ajst-17392	92	46	of	of	ADP
ajst-17392	92	47	floyd	floyd	PROPN
ajst-17392	92	48	and	and	CCONJ
ajst-17392	92	49	the	the	DET
ajst-17392	92	50	dwa	dwa	PROPN
ajst-17392	92	51	dynamic	dynamic	ADJ
ajst-17392	92	52	window	window	NOUN
ajst-17392	92	53	,	,	PUNCT
ajst-17392	92	54	the	the	DET
ajst-17392	92	55	final	final	ADJ
ajst-17392	92	56	result	result	NOUN
ajst-17392	92	57	of	of	ADP
ajst-17392	92	58	our	our	PRON
ajst-17392	92	59	experiment	experiment	NOUN
ajst-17392	92	60	is	be	AUX
ajst-17392	92	61	shown	show	VERB
ajst-17392	92	62	in	in	ADP
ajst-17392	92	63	fig	fig	NOUN
ajst-17392	92	64	.	.	PUNCT
ajst-17392	93	1	4	4	NUM
ajst-17392	93	2	:	:	PUNCT
ajst-17392	93	3	figure	figure	NOUN
ajst-17392	93	4	4	4	NUM
ajst-17392	93	5	.	.	PUNCT
ajst-17392	93	6	improved	improve	VERB
ajst-17392	93	7	results	result	NOUN
ajst-17392	93	8	of	of	ADP
ajst-17392	93	9	this	this	DET
ajst-17392	93	10	paper	paper	NOUN
ajst-17392	93	11	in	in	ADP
ajst-17392	93	12	order	order	NOUN
ajst-17392	93	13	to	to	PART
ajst-17392	93	14	verify	verify	VERB
ajst-17392	93	15	the	the	DET
ajst-17392	93	16	randomness	randomness	NOUN
ajst-17392	93	17	of	of	ADP
ajst-17392	93	18	the	the	DET
ajst-17392	93	19	experiments	experiment	NOUN
ajst-17392	93	20	,	,	PUNCT
ajst-17392	93	21	we	we	PRON
ajst-17392	93	22	continued	continue	VERB
ajst-17392	93	23	the	the	DET
ajst-17392	93	24	validation	validation	NOUN
ajst-17392	93	25	of	of	ADP
ajst-17392	93	26	scene	scene	NOUN
ajst-17392	93	27	ii	ii	PROPN
ajst-17392	93	28	and	and	CCONJ
ajst-17392	93	29	scene	scene	PROPN
ajst-17392	93	30	iii	iii	PROPN
ajst-17392	93	31	,	,	PUNCT
ajst-17392	93	32	also	also	ADV
ajst-17392	93	33	using	use	VERB
ajst-17392	93	34	the	the	DET
ajst-17392	93	35	same	same	ADJ
ajst-17392	93	36	comparison	comparison	NOUN
ajst-17392	93	37	idea	idea	NOUN
ajst-17392	93	38	for	for	ADP
ajst-17392	93	39	design	design	NOUN
ajst-17392	93	40	planning	planning	NOUN
ajst-17392	93	41	,	,	PUNCT
ajst-17392	93	42	in	in	ADP
ajst-17392	93	43	the	the	DET
ajst-17392	93	44	process	process	NOUN
ajst-17392	93	45	of	of	ADP
ajst-17392	93	46	driving	driving	NOUN
ajst-17392	93	47	,	,	PUNCT
ajst-17392	93	48	according	accord	VERB
ajst-17392	93	49	to	to	ADP
ajst-17392	93	50	the	the	DET
ajst-17392	93	51	different	different	ADJ
ajst-17392	93	52	obstacle	obstacle	NOUN
ajst-17392	93	53	locations	location	NOUN
ajst-17392	93	54	in	in	ADP
ajst-17392	93	55	different	different	ADJ
ajst-17392	93	56	scenes	scene	NOUN
ajst-17392	93	57	,	,	PUNCT
ajst-17392	93	58	the	the	DET
ajst-17392	93	59	steering	steering	NOUN
ajst-17392	93	60	angle	angle	NOUN
ajst-17392	93	61	range	range	NOUN
ajst-17392	93	62	and	and	CCONJ
ajst-17392	93	63	its	its	PRON
ajst-17392	93	64	speed	speed	NOUN
ajst-17392	93	65	of	of	ADP
ajst-17392	93	66	obstacle	obstacle	NOUN
ajst-17392	93	67	avoidance	avoidance	NOUN
ajst-17392	93	68	in	in	ADP
ajst-17392	93	69	each	each	DET
ajst-17392	93	70	experiment	experiment	NOUN
ajst-17392	93	71	are	be	AUX
ajst-17392	93	72	also	also	ADV
ajst-17392	93	73	different	different	ADJ
ajst-17392	93	74	,	,	PUNCT
ajst-17392	93	75	but	but	CCONJ
ajst-17392	93	76	it	it	PRON
ajst-17392	93	77	is	be	AUX
ajst-17392	93	78	always	always	ADV
ajst-17392	93	79	kept	keep	VERB
ajst-17392	93	80	in	in	ADP
ajst-17392	93	81	a	a	DET
ajst-17392	93	82	relatively	relatively	ADV
ajst-17392	93	83	stable	stable	ADJ
ajst-17392	93	84	value	value	NOUN
ajst-17392	93	85	.	.	PUNCT
ajst-17392	94	1	angular	angular	ADJ
ajst-17392	94	2	velocity	velocity	PROPN
ajst-17392	94	3	w(-72	w(-72	PROPN
ajst-17392	94	4	,	,	PUNCT
ajst-17392	94	5	72	72	NUM
ajst-17392	94	6	)	)	PUNCT
ajst-17392	94	7	°	°	NOUN
ajst-17392	94	8	,	,	PUNCT
ajst-17392	94	9	linear	linear	ADJ
ajst-17392	94	10	velocity	velocity	NOUN
ajst-17392	94	11	v(0,0.5)m	v(0,0.5)m	NOUN
ajst-17392	94	12	/	/	SYM
ajst-17392	94	13	s	s	VERB
ajst-17392	94	14	the	the	DET
ajst-17392	94	15	following	follow	VERB
ajst-17392	94	16	node	node	ADJ
ajst-17392	94	17	optimization	optimization	NOUN
ajst-17392	94	18	,	,	PUNCT
ajst-17392	94	19	folyd	folyd	NOUN
ajst-17392	94	20	optimization	optimization	NOUN
ajst-17392	94	21	and	and	CCONJ
ajst-17392	94	22	this	this	DET
ajst-17392	94	23	paper	paper	NOUN
ajst-17392	94	24	's	's	PART
ajst-17392	94	25	improved	improve	VERB
ajst-17392	94	26	a	a	DET
ajst-17392	94	27	*	*	PUNCT
ajst-17392	94	28	algorithm	algorithm	NOUN
ajst-17392	94	29	optimization	optimization	NOUN
ajst-17392	94	30	path	path	NOUN
ajst-17392	94	31	results	result	NOUN
ajst-17392	94	32	for	for	ADP
ajst-17392	94	33	scenario	scenario	NOUN
ajst-17392	94	34	two	two	NUM
ajst-17392	94	35	are	be	AUX
ajst-17392	94	36	shown	show	VERB
ajst-17392	94	37	in	in	ADP
ajst-17392	94	38	fig	fig	NOUN
ajst-17392	94	39	.	.	PUNCT
ajst-17392	95	1	5	5	NUM
ajst-17392	95	2	,	,	PUNCT
ajst-17392	95	3	fig	fig	NOUN
ajst-17392	95	4	.	.	NOUN
ajst-17392	95	5	6	6	NUM
ajst-17392	95	6	and	and	CCONJ
ajst-17392	95	7	fig	fig	NOUN
ajst-17392	95	8	.	.	PUNCT
ajst-17392	96	1	7	7	NUM
ajst-17392	96	2	,	,	PUNCT
ajst-17392	96	3	respectively	respectively	ADV
ajst-17392	96	4	:	:	PUNCT
ajst-17392	96	5	figure	figure	NOUN
ajst-17392	96	6	5	5	NUM
ajst-17392	96	7	.	.	PUNCT
ajst-17392	97	1	node	node	ADJ
ajst-17392	97	2	optimization	optimization	NOUN
ajst-17392	97	3	results	result	NOUN
ajst-17392	97	4	for	for	ADP
ajst-17392	97	5	scenario	scenario	NOUN
ajst-17392	97	6	2	2	NUM
ajst-17392	97	7	figure	figure	NOUN
ajst-17392	97	8	6	6	NUM
ajst-17392	97	9	.	.	PUNCT
ajst-17392	98	1	folyd	folyd	NOUN
ajst-17392	98	2	optimization	optimization	NOUN
ajst-17392	98	3	results	result	NOUN
ajst-17392	98	4	for	for	ADP
ajst-17392	98	5	scenario	scenario	NOUN
ajst-17392	98	6	2	2	NUM
ajst-17392	98	7	figure	figure	NOUN
ajst-17392	98	8	7	7	NUM
ajst-17392	98	9	.	.	PUNCT
ajst-17392	98	10	optimization	optimization	NOUN
ajst-17392	98	11	results	result	NOUN
ajst-17392	98	12	of	of	ADP
ajst-17392	98	13	this	this	DET
ajst-17392	98	14	paper	paper	NOUN
ajst-17392	98	15	for	for	ADP
ajst-17392	98	16	scenario	scenario	NOUN
ajst-17392	98	17	2	2	NUM
ajst-17392	98	18	the	the	DET
ajst-17392	98	19	results	result	NOUN
ajst-17392	98	20	of	of	ADP
ajst-17392	98	21	the	the	DET
ajst-17392	98	22	node	node	ADJ
ajst-17392	98	23	optimization	optimization	NOUN
ajst-17392	98	24	,	,	PUNCT
ajst-17392	98	25	folyd	folyd	NOUN
ajst-17392	98	26	optimization	optimization	NOUN
ajst-17392	98	27	and	and	CCONJ
ajst-17392	98	28	the	the	DET
ajst-17392	98	29	improved	improved	ADJ
ajst-17392	98	30	a	a	DET
ajst-17392	98	31	*	*	PUNCT
ajst-17392	98	32	algorithm	algorithm	NOUN
ajst-17392	98	33	optimization	optimization	NOUN
ajst-17392	98	34	paths	path	NOUN
ajst-17392	98	35	in	in	ADP
ajst-17392	98	36	this	this	DET
ajst-17392	98	37	paper	paper	NOUN
ajst-17392	98	38	for	for	ADP
ajst-17392	98	39	scenario	scenario	NOUN
ajst-17392	98	40	3	3	NUM
ajst-17392	98	41	are	be	AUX
ajst-17392	98	42	shown	show	VERB
ajst-17392	98	43	in	in	ADP
ajst-17392	98	44	fig	fig	NOUN
ajst-17392	98	45	.	.	PUNCT
ajst-17392	99	1	8	8	NUM
ajst-17392	99	2	,	,	PUNCT
ajst-17392	99	3	fig	fig	NOUN
ajst-17392	99	4	.	.	PUNCT
ajst-17392	100	1	9	9	NUM
ajst-17392	100	2	and	and	CCONJ
ajst-17392	100	3	fig	fig	NOUN
ajst-17392	100	4	.	.	PUNCT
ajst-17392	101	1	10	10	NUM
ajst-17392	101	2	:	:	SYM
ajst-17392	101	3	81	81	NUM
ajst-17392	101	4	figure	figure	NOUN
ajst-17392	101	5	8	8	NUM
ajst-17392	101	6	.	.	PUNCT
ajst-17392	102	1	node	node	ADJ
ajst-17392	102	2	optimization	optimization	NOUN
ajst-17392	102	3	results	result	NOUN
ajst-17392	102	4	for	for	ADP
ajst-17392	102	5	scenario	scenario	NOUN
ajst-17392	102	6	3	3	NUM
ajst-17392	102	7	figure	figure	NOUN
ajst-17392	102	8	9	9	NUM
ajst-17392	102	9	.	.	PUNCT
ajst-17392	103	1	folyd	folyd	NOUN
ajst-17392	103	2	optimization	optimization	NOUN
ajst-17392	103	3	results	result	NOUN
ajst-17392	103	4	for	for	ADP
ajst-17392	103	5	scenario	scenario	NOUN
ajst-17392	103	6	3	3	NUM
ajst-17392	103	7	figure	figure	NOUN
ajst-17392	103	8	10	10	NUM
ajst-17392	103	9	.	.	PUNCT
ajst-17392	104	1	optimization	optimization	NOUN
ajst-17392	104	2	results	result	NOUN
ajst-17392	104	3	of	of	ADP
ajst-17392	104	4	this	this	DET
ajst-17392	104	5	paper	paper	NOUN
ajst-17392	104	6	for	for	ADP
ajst-17392	104	7	scenario	scenario	NOUN
ajst-17392	104	8	3	3	NUM
ajst-17392	104	9	a	a	DET
ajst-17392	104	10	comparison	comparison	NOUN
ajst-17392	104	11	of	of	ADP
ajst-17392	104	12	angular	angular	ADJ
ajst-17392	104	13	and	and	CCONJ
ajst-17392	104	14	linear	linear	ADJ
ajst-17392	104	15	velocities	velocity	NOUN
ajst-17392	104	16	is	be	AUX
ajst-17392	104	17	shown	show	VERB
ajst-17392	104	18	in	in	ADP
ajst-17392	104	19	figure	figure	NOUN
ajst-17392	104	20	11	11	NUM
ajst-17392	104	21	:	:	PUNCT
ajst-17392	104	22	figure	figure	NOUN
ajst-17392	104	23	11	11	NUM
ajst-17392	104	24	.	.	PUNCT
ajst-17392	105	1	angular	angular	ADJ
ajst-17392	105	2	and	and	CCONJ
ajst-17392	105	3	linear	linear	ADJ
ajst-17392	105	4	velocity	velocity	NOUN
ajst-17392	105	5	comparison	comparison	NOUN
ajst-17392	105	6	chart	chart	NOUN
ajst-17392	105	7	from	from	ADP
ajst-17392	105	8	the	the	DET
ajst-17392	105	9	above	above	ADJ
ajst-17392	105	10	experimental	experimental	ADJ
ajst-17392	105	11	results	result	NOUN
ajst-17392	105	12	,	,	PUNCT
ajst-17392	105	13	it	it	PRON
ajst-17392	105	14	can	can	AUX
ajst-17392	105	15	be	be	AUX
ajst-17392	105	16	seen	see	VERB
ajst-17392	105	17	that	that	SCONJ
ajst-17392	105	18	the	the	DET
ajst-17392	105	19	performance	performance	NOUN
ajst-17392	105	20	of	of	ADP
ajst-17392	105	21	the	the	DET
ajst-17392	105	22	fusion	fusion	NOUN
ajst-17392	105	23	algorithm	algorithm	NOUN
ajst-17392	105	24	of	of	ADP
ajst-17392	105	25	this	this	DET
ajst-17392	105	26	paper	paper	NOUN
ajst-17392	105	27	to	to	PART
ajst-17392	105	28	improve	improve	VERB
ajst-17392	105	29	a	a	PRON
ajst-17392	105	30	*	*	PUNCT
ajst-17392	105	31	is	be	AUX
ajst-17392	105	32	much	much	ADV
ajst-17392	105	33	improved	improved	ADJ
ajst-17392	105	34	compared	compare	VERB
ajst-17392	105	35	to	to	ADP
ajst-17392	105	36	the	the	DET
ajst-17392	105	37	previous	previous	ADJ
ajst-17392	105	38	traditional	traditional	ADJ
ajst-17392	105	39	algorithm	algorithm	NOUN
ajst-17392	105	40	,	,	PUNCT
ajst-17392	105	41	and	and	CCONJ
ajst-17392	105	42	at	at	ADP
ajst-17392	105	43	the	the	DET
ajst-17392	105	44	same	same	ADJ
ajst-17392	105	45	time	time	NOUN
ajst-17392	105	46	,	,	PUNCT
ajst-17392	105	47	when	when	SCONJ
ajst-17392	105	48	group	group	NOUN
ajst-17392	105	49	experiments	experiment	NOUN
ajst-17392	105	50	are	be	AUX
ajst-17392	105	51	conducted	conduct	VERB
ajst-17392	105	52	,	,	PUNCT
ajst-17392	105	53	it	it	PRON
ajst-17392	105	54	can	can	AUX
ajst-17392	105	55	be	be	AUX
ajst-17392	105	56	found	find	VERB
ajst-17392	105	57	that	that	SCONJ
ajst-17392	105	58	with	with	ADP
ajst-17392	105	59	the	the	DET
ajst-17392	105	60	increasing	increase	VERB
ajst-17392	105	61	number	number	NOUN
ajst-17392	105	62	of	of	ADP
ajst-17392	105	63	random	random	ADJ
ajst-17392	105	64	obstacles	obstacle	NOUN
ajst-17392	105	65	at	at	ADP
ajst-17392	105	66	the	the	DET
ajst-17392	105	67	same	same	ADJ
ajst-17392	105	68	time	time	NOUN
ajst-17392	105	69	,	,	PUNCT
ajst-17392	105	70	the	the	DET
ajst-17392	105	71	improved	improved	ADJ
ajst-17392	105	72	algorithm	algorithm	NOUN
ajst-17392	105	73	of	of	ADP
ajst-17392	105	74	this	this	DET
ajst-17392	105	75	paper	paper	NOUN
ajst-17392	105	76	can	can	AUX
ajst-17392	105	77	still	still	ADV
ajst-17392	105	78	be	be	AUX
ajst-17392	105	79	able	able	ADJ
ajst-17392	105	80	to	to	PART
ajst-17392	105	81	carry	carry	VERB
ajst-17392	105	82	out	out	ADP
ajst-17392	105	83	random	random	ADJ
ajst-17392	105	84	obstacle	obstacle	NOUN
ajst-17392	105	85	avoidance	avoidance	NOUN
ajst-17392	105	86	.	.	PUNCT
ajst-17392	106	1	the	the	DET
ajst-17392	106	2	experimental	experimental	ADJ
ajst-17392	106	3	comparison	comparison	NOUN
ajst-17392	106	4	results	result	NOUN
ajst-17392	106	5	are	be	AUX
ajst-17392	106	6	shown	show	VERB
ajst-17392	106	7	in	in	ADP
ajst-17392	106	8	figures	figure	NOUN
ajst-17392	106	9	1	1	NUM
ajst-17392	106	10	-	-	SYM
ajst-17392	106	11	6	6	NUM
ajst-17392	106	12	,	,	PUNCT
ajst-17392	106	13	2	2	NUM
ajst-17392	106	14	-	-	SYM
ajst-17392	106	15	6	6	NUM
ajst-17392	106	16	and	and	CCONJ
ajst-17392	106	17	3	3	NUM
ajst-17392	106	18	-	-	SYM
ajst-17392	106	19	6	6	NUM
ajst-17392	106	20	:	:	PUNCT
ajst-17392	106	21	figures	figure	NOUN
ajst-17392	106	22	1	1	NUM
ajst-17392	106	23	-	-	SYM
ajst-17392	106	24	6	6	NUM
ajst-17392	106	25	.	.	NOUN
ajst-17392	106	26	6	6	NUM
ajst-17392	106	27	random	random	ADJ
ajst-17392	106	28	obstacle	obstacle	NOUN
ajst-17392	106	29	results	result	NOUN
ajst-17392	106	30	in	in	ADP
ajst-17392	106	31	scenario	scenario	NOUN
ajst-17392	106	32	1	1	NUM
ajst-17392	106	33	figures	figure	NOUN
ajst-17392	106	34	2	2	NUM
ajst-17392	106	35	-	-	SYM
ajst-17392	106	36	6	6	NUM
ajst-17392	106	37	.	.	NOUN
ajst-17392	106	38	6	6	NUM
ajst-17392	106	39	random	random	ADJ
ajst-17392	106	40	obstacle	obstacle	NOUN
ajst-17392	106	41	results	result	NOUN
ajst-17392	106	42	in	in	ADP
ajst-17392	106	43	scenario	scenario	NOUN
ajst-17392	106	44	2	2	NUM
ajst-17392	106	45	figures	figure	NOUN
ajst-17392	106	46	3	3	NUM
ajst-17392	106	47	-	-	SYM
ajst-17392	106	48	6	6	NUM
ajst-17392	106	49	.	.	NOUN
ajst-17392	106	50	6	6	NUM
ajst-17392	106	51	random	random	ADJ
ajst-17392	106	52	obstacle	obstacle	NOUN
ajst-17392	106	53	results	result	NOUN
ajst-17392	106	54	in	in	ADP
ajst-17392	106	55	scenario	scenario	NOUN
ajst-17392	106	56	3	3	NUM
ajst-17392	106	57	table	table	NOUN
ajst-17392	106	58	1	1	NUM
ajst-17392	106	59	.	.	PUNCT
ajst-17392	107	1	planning	planning	NOUN
ajst-17392	107	2	path	path	NOUN
ajst-17392	107	3	length	length	PROPN
ajst-17392	107	4	comparison	comparison	NOUN
ajst-17392	107	5	table	table	NOUN
ajst-17392	107	6	length	length	NOUN
ajst-17392	107	7	\m	\m	NOUN
ajst-17392	107	8	scene	scene	NOUN
ajst-17392	107	9	1	1	NUM
ajst-17392	107	10	scene	scene	NOUN
ajst-17392	107	11	2	2	NUM
ajst-17392	107	12	scene	scene	NOUN
ajst-17392	107	13	3	3	NUM
ajst-17392	107	14	random	random	ADJ
ajst-17392	107	15	1	1	NUM
ajst-17392	107	16	34.67	34.67	NUM
ajst-17392	107	17	42.45	42.45	NUM
ajst-17392	107	18	49.10	49.10	NUM
ajst-17392	107	19	random	random	ADJ
ajst-17392	107	20	3	3	NUM
ajst-17392	107	21	34.67	34.67	NUM
ajst-17392	107	22	42.43	42.43	NUM
ajst-17392	107	23	49.01	49.01	NUM
ajst-17392	107	24	random	random	ADJ
ajst-17392	107	25	6	6	NUM
ajst-17392	107	26	34.69	34.69	NUM
ajst-17392	107	27	42.40	42.40	NUM
ajst-17392	107	28	48.98	48.98	NUM
ajst-17392	107	29	82	82	NUM
ajst-17392	107	30	table	table	NOUN
ajst-17392	107	31	2	2	NUM
ajst-17392	107	32	.	.	PUNCT
ajst-17392	107	33	planning	planning	NOUN
ajst-17392	107	34	path	path	NOUN
ajst-17392	107	35	time	time	NOUN
ajst-17392	107	36	comparison	comparison	NOUN
ajst-17392	107	37	table	table	NOUN
ajst-17392	107	38	time\s	time\s	PROPN
ajst-17392	107	39	scene	scene	NOUN
ajst-17392	107	40	1	1	NUM
ajst-17392	107	41	scene	scene	NOUN
ajst-17392	107	42	2	2	NUM
ajst-17392	107	43	scene	scene	NOUN
ajst-17392	107	44	3	3	NUM
ajst-17392	107	45	random	random	ADJ
ajst-17392	107	46	1	1	NUM
ajst-17392	107	47	420.0	420.0	NUM
ajst-17392	107	48	392.8	392.8	NUM
ajst-17392	107	49	809.9	809.9	NUM
ajst-17392	107	50	random	random	ADJ
ajst-17392	107	51	3	3	NUM
ajst-17392	107	52	432.9	432.9	NUM
ajst-17392	107	53	396.5	396.5	NUM
ajst-17392	107	54	858.8	858.8	NUM
ajst-17392	107	55	random	random	ADJ
ajst-17392	107	56	6	6	NUM
ajst-17392	107	57	413.4	413.4	NUM
ajst-17392	107	58	424.5	424.5	NUM
ajst-17392	107	59	831.6	831.6	NUM
ajst-17392	107	60	table	table	NOUN
ajst-17392	107	61	1	1	NUM
ajst-17392	107	62	and	and	CCONJ
ajst-17392	107	63	table	table	NOUN
ajst-17392	107	64	2	2	NUM
ajst-17392	107	65	show	show	VERB
ajst-17392	107	66	the	the	DET
ajst-17392	107	67	path	path	NOUN
ajst-17392	107	68	planning	planning	NOUN
ajst-17392	107	69	length	length	NOUN
ajst-17392	107	70	and	and	CCONJ
ajst-17392	107	71	time	time	NOUN
ajst-17392	107	72	comparison	comparison	NOUN
ajst-17392	107	73	of	of	ADP
ajst-17392	107	74	the	the	DET
ajst-17392	107	75	three	three	NUM
ajst-17392	107	76	scenarios	scenario	NOUN
ajst-17392	107	77	with	with	ADP
ajst-17392	107	78	3	3	NUM
ajst-17392	107	79	and	and	CCONJ
ajst-17392	107	80	6	6	NUM
ajst-17392	107	81	random	random	ADJ
ajst-17392	107	82	obstacles	obstacle	NOUN
ajst-17392	107	83	added	add	VERB
ajst-17392	107	84	at	at	ADP
ajst-17392	107	85	the	the	DET
ajst-17392	107	86	same	same	ADJ
ajst-17392	107	87	time	time	NOUN
ajst-17392	107	88	.	.	PUNCT
ajst-17392	108	1	compared	compare	VERB
ajst-17392	108	2	with	with	ADP
ajst-17392	108	3	the	the	DET
ajst-17392	108	4	above	above	ADJ
ajst-17392	108	5	figure	figure	NOUN
ajst-17392	108	6	with	with	ADP
ajst-17392	108	7	1	1	NUM
ajst-17392	108	8	random	random	ADJ
ajst-17392	108	9	obstacle	obstacle	NOUN
ajst-17392	108	10	,	,	PUNCT
ajst-17392	108	11	our	our	PRON
ajst-17392	108	12	improved	improved	ADJ
ajst-17392	108	13	algorithm	algorithm	NOUN
ajst-17392	108	14	results	result	VERB
ajst-17392	108	15	in	in	ADP
ajst-17392	108	16	smoother	smooth	ADJ
ajst-17392	108	17	and	and	CCONJ
ajst-17392	108	18	safer	safe	ADJ
ajst-17392	108	19	path	path	NOUN
ajst-17392	108	20	planning	planning	NOUN
ajst-17392	108	21	for	for	ADP
ajst-17392	108	22	the	the	DET
ajst-17392	108	23	relevant	relevant	ADJ
ajst-17392	108	24	requirements	requirement	NOUN
ajst-17392	108	25	.	.	PUNCT
ajst-17392	109	1	meanwhile	meanwhile	ADV
ajst-17392	109	2	,	,	PUNCT
ajst-17392	109	3	by	by	ADP
ajst-17392	109	4	comparing	compare	VERB
ajst-17392	109	5	the	the	DET
ajst-17392	109	6	above	above	ADJ
ajst-17392	109	7	table	table	NOUN
ajst-17392	109	8	,	,	PUNCT
ajst-17392	109	9	we	we	PRON
ajst-17392	109	10	can	can	AUX
ajst-17392	109	11	see	see	VERB
ajst-17392	109	12	that	that	SCONJ
ajst-17392	109	13	the	the	DET
ajst-17392	109	14	length	length	NOUN
ajst-17392	109	15	of	of	ADP
ajst-17392	109	16	the	the	DET
ajst-17392	109	17	planned	plan	VERB
ajst-17392	109	18	path	path	NOUN
ajst-17392	109	19	is	be	AUX
ajst-17392	109	20	not	not	PART
ajst-17392	109	21	redundant	redundant	ADJ
ajst-17392	109	22	when	when	SCONJ
ajst-17392	109	23	random	random	ADJ
ajst-17392	109	24	obstacles	obstacle	NOUN
ajst-17392	109	25	are	be	AUX
ajst-17392	109	26	added	add	VERB
ajst-17392	109	27	,	,	PUNCT
ajst-17392	109	28	and	and	CCONJ
ajst-17392	109	29	the	the	DET
ajst-17392	109	30	time	time	NOUN
ajst-17392	109	31	of	of	ADP
ajst-17392	109	32	the	the	DET
ajst-17392	109	33	whole	whole	ADJ
ajst-17392	109	34	planning	planning	NOUN
ajst-17392	109	35	path	path	NOUN
ajst-17392	109	36	is	be	AUX
ajst-17392	109	37	not	not	PART
ajst-17392	109	38	too	too	ADV
ajst-17392	109	39	long	long	ADJ
ajst-17392	109	40	and	and	CCONJ
ajst-17392	109	41	cumbersome	cumbersome	ADJ
ajst-17392	109	42	.	.	PUNCT
ajst-17392	110	1	if	if	SCONJ
ajst-17392	110	2	applied	apply	VERB
ajst-17392	110	3	to	to	ADP
ajst-17392	110	4	real	real	ADJ
ajst-17392	110	5	-	-	PUNCT
ajst-17392	110	6	world	world	NOUN
ajst-17392	110	7	scenarios	scenario	NOUN
ajst-17392	110	8	,	,	PUNCT
ajst-17392	110	9	such	such	ADJ
ajst-17392	110	10	as	as	ADP
ajst-17392	110	11	smart	smart	ADJ
ajst-17392	110	12	driving	driving	NOUN
ajst-17392	110	13	to	to	PART
ajst-17392	110	14	avoid	avoid	VERB
ajst-17392	110	15	"	"	PUNCT
ajst-17392	110	16	ghost	ghost	NOUN
ajst-17392	110	17	probes	probe	NOUN
ajst-17392	110	18	"	"	PUNCT
ajst-17392	110	19	,	,	PUNCT
ajst-17392	110	20	or	or	CCONJ
ajst-17392	110	21	shopping	shopping	NOUN
ajst-17392	110	22	mall	mall	NOUN
ajst-17392	110	23	robots	robot	NOUN
ajst-17392	110	24	in	in	ADP
ajst-17392	110	25	the	the	DET
ajst-17392	110	26	face	face	NOUN
ajst-17392	110	27	of	of	ADP
ajst-17392	110	28	children	child	NOUN
ajst-17392	110	29	's	's	PART
ajst-17392	110	30	playfulness	playfulness	NOUN
ajst-17392	110	31	,	,	PUNCT
ajst-17392	110	32	etc	etc	X
ajst-17392	110	33	.	.	X
ajst-17392	110	34	,	,	PUNCT
ajst-17392	110	35	we	we	PRON
ajst-17392	110	36	can	can	AUX
ajst-17392	110	37	see	see	VERB
ajst-17392	110	38	that	that	SCONJ
ajst-17392	110	39	the	the	DET
ajst-17392	110	40	path	path	NOUN
ajst-17392	110	41	length	length	NOUN
ajst-17392	110	42	is	be	AUX
ajst-17392	110	43	not	not	PART
ajst-17392	110	44	redundant	redundant	ADJ
ajst-17392	110	45	when	when	SCONJ
ajst-17392	110	46	random	random	ADJ
ajst-17392	110	47	obstacles	obstacle	NOUN
ajst-17392	110	48	are	be	AUX
ajst-17392	110	49	added	add	VERB
ajst-17392	110	50	.	.	PUNCT
ajst-17392	111	1	6	6	X
ajst-17392	111	2	.	.	X
ajst-17392	111	3	summary	summary	VERB
ajst-17392	111	4	the	the	DET
ajst-17392	111	5	improved	improved	ADJ
ajst-17392	111	6	a	a	PRON
ajst-17392	111	7	*	*	PUNCT
ajst-17392	111	8	and	and	CCONJ
ajst-17392	111	9	dwa	dwa	VERB
ajst-17392	111	10	dynamic	dynamic	ADJ
ajst-17392	111	11	window	window	NOUN
ajst-17392	111	12	fusion	fusion	NOUN
ajst-17392	111	13	algorithm	algorithm	NOUN
ajst-17392	111	14	proposed	propose	VERB
ajst-17392	111	15	in	in	ADP
ajst-17392	111	16	this	this	DET
ajst-17392	111	17	paper	paper	NOUN
ajst-17392	111	18	effectively	effectively	ADV
ajst-17392	111	19	solves	solve	VERB
ajst-17392	111	20	the	the	DET
ajst-17392	111	21	problems	problem	NOUN
ajst-17392	111	22	of	of	ADP
ajst-17392	111	23	the	the	DET
ajst-17392	111	24	traditional	traditional	ADJ
ajst-17392	111	25	a	a	PRON
ajst-17392	111	26	*	*	ADJ
ajst-17392	111	27	algorithm	algorithm	NOUN
ajst-17392	111	28	,	,	PUNCT
ajst-17392	111	29	such	such	ADJ
ajst-17392	111	30	as	as	ADP
ajst-17392	111	31	low	low	ADJ
ajst-17392	111	32	efficiency	efficiency	NOUN
ajst-17392	111	33	,	,	PUNCT
ajst-17392	111	34	redundancy	redundancy	NOUN
ajst-17392	111	35	and	and	CCONJ
ajst-17392	111	36	complexity	complexity	NOUN
ajst-17392	111	37	,	,	PUNCT
ajst-17392	111	38	and	and	CCONJ
ajst-17392	111	39	inability	inability	NOUN
ajst-17392	111	40	to	to	PART
ajst-17392	111	41	adapt	adapt	VERB
ajst-17392	111	42	to	to	ADP
ajst-17392	111	43	the	the	DET
ajst-17392	111	44	variability	variability	NOUN
ajst-17392	111	45	of	of	ADP
ajst-17392	111	46	the	the	DET
ajst-17392	111	47	environment	environment	NOUN
ajst-17392	111	48	.	.	PUNCT
ajst-17392	112	1	the	the	DET
ajst-17392	112	2	combination	combination	NOUN
ajst-17392	112	3	of	of	ADP
ajst-17392	112	4	specific	specific	ADJ
ajst-17392	112	5	refinement	refinement	NOUN
ajst-17392	112	6	to	to	ADP
ajst-17392	112	7	local	local	ADJ
ajst-17392	112	8	optimum	optimum	NOUN
ajst-17392	112	9	is	be	AUX
ajst-17392	112	10	achieved	achieve	VERB
ajst-17392	112	11	on	on	ADP
ajst-17392	112	12	the	the	DET
ajst-17392	112	13	basis	basis	NOUN
ajst-17392	112	14	of	of	ADP
ajst-17392	112	15	global	global	ADJ
ajst-17392	112	16	planning	planning	NOUN
ajst-17392	112	17	,	,	PUNCT
ajst-17392	112	18	and	and	CCONJ
ajst-17392	112	19	the	the	DET
ajst-17392	112	20	algorithm	algorithm	NOUN
ajst-17392	112	21	makes	make	VERB
ajst-17392	112	22	the	the	DET
ajst-17392	112	23	robot	robot	NOUN
ajst-17392	112	24	have	have	AUX
ajst-17392	112	25	reliable	reliable	ADJ
ajst-17392	112	26	real	real	ADJ
ajst-17392	112	27	-	-	PUNCT
ajst-17392	112	28	time	time	NOUN
ajst-17392	112	29	obstacle	obstacle	NOUN
ajst-17392	112	30	avoidance	avoidance	NOUN
ajst-17392	112	31	ability	ability	NOUN
ajst-17392	112	32	in	in	ADP
ajst-17392	112	33	the	the	DET
ajst-17392	112	34	real	real	ADJ
ajst-17392	112	35	path	path	NOUN
ajst-17392	112	36	planning	planning	NOUN
ajst-17392	112	37	process	process	NOUN
ajst-17392	112	38	by	by	ADP
ajst-17392	112	39	optimizing	optimize	VERB
ajst-17392	112	40	the	the	DET
ajst-17392	112	41	node	node	ADJ
ajst-17392	112	42	search	search	NOUN
ajst-17392	112	43	of	of	ADP
ajst-17392	112	44	a	a	DET
ajst-17392	112	45	*	*	ADJ
ajst-17392	112	46	algorithm	algorithm	NOUN
ajst-17392	112	47	,	,	PUNCT
ajst-17392	112	48	deleting	delete	VERB
ajst-17392	112	49	redundant	redundant	ADJ
ajst-17392	112	50	nodes	node	NOUN
ajst-17392	112	51	and	and	CCONJ
ajst-17392	112	52	optimizing	optimize	VERB
ajst-17392	112	53	its	its	PRON
ajst-17392	112	54	cost	cost	NOUN
ajst-17392	112	55	function	function	NOUN
ajst-17392	112	56	.	.	PUNCT
ajst-17392	113	1	meanwhile	meanwhile	ADV
ajst-17392	113	2	,	,	PUNCT
ajst-17392	113	3	in	in	ADP
ajst-17392	113	4	practical	practical	ADJ
ajst-17392	113	5	applications	application	NOUN
ajst-17392	113	6	,	,	PUNCT
ajst-17392	113	7	it	it	PRON
ajst-17392	113	8	provides	provide	VERB
ajst-17392	113	9	a	a	DET
ajst-17392	113	10	novel	novel	ADJ
ajst-17392	113	11	way	way	NOUN
ajst-17392	113	12	of	of	ADP
ajst-17392	113	13	thinking	thinking	NOUN
ajst-17392	113	14	and	and	CCONJ
ajst-17392	113	15	planning	planning	NOUN
ajst-17392	113	16	for	for	ADP
ajst-17392	113	17	many	many	ADJ
ajst-17392	113	18	areas	area	NOUN
ajst-17392	113	19	of	of	ADP
ajst-17392	113	20	path	path	NOUN
ajst-17392	113	21	planning	planning	NOUN
ajst-17392	113	22	,	,	PUNCT
ajst-17392	113	23	and	and	CCONJ
ajst-17392	113	24	our	our	PRON
ajst-17392	113	25	future	future	ADJ
ajst-17392	113	26	technology	technology	NOUN
ajst-17392	113	27	and	and	CCONJ
ajst-17392	113	28	life	life	NOUN
ajst-17392	113	29	will	will	AUX
ajst-17392	113	30	generate	generate	VERB
ajst-17392	113	31	and	and	CCONJ
ajst-17392	113	32	face	face	VERB
ajst-17392	113	33	more	more	ADJ
ajst-17392	113	34	problems	problem	NOUN
ajst-17392	113	35	,	,	PUNCT
ajst-17392	113	36	and	and	CCONJ
ajst-17392	113	37	more	more	ADJ
ajst-17392	113	38	needs	need	NOUN
ajst-17392	113	39	and	and	CCONJ
ajst-17392	113	40	challenges	challenge	NOUN
ajst-17392	113	41	will	will	AUX
ajst-17392	113	42	emerge	emerge	VERB
ajst-17392	113	43	to	to	PART
ajst-17392	113	44	be	be	AUX
ajst-17392	113	45	solved	solve	VERB
ajst-17392	113	46	.	.	PUNCT
ajst-17392	114	1	therefore	therefore	ADV
ajst-17392	114	2	,	,	PUNCT
ajst-17392	114	3	deeper	deep	ADJ
ajst-17392	114	4	explorations	exploration	NOUN
ajst-17392	114	5	are	be	AUX
ajst-17392	114	6	still	still	ADV
ajst-17392	114	7	needed	need	VERB
ajst-17392	114	8	for	for	ADP
ajst-17392	114	9	future	future	ADJ
ajst-17392	114	10	technological	technological	ADJ
ajst-17392	114	11	innovations	innovation	NOUN
ajst-17392	114	12	and	and	CCONJ
ajst-17392	114	13	researches	research	NOUN
ajst-17392	114	14	.	.	PUNCT
ajst-17392	115	1	references	reference	NOUN
ajst-17392	115	2	[	[	X
ajst-17392	115	3	1	1	X
ajst-17392	115	4	]	]	PUNCT
ajst-17392	115	5	yang	yang	PROPN
ajst-17392	115	6	w.h	w.h	PROPN
ajst-17392	115	7	.	.	PROPN
ajst-17392	116	1	a	a	DET
ajst-17392	116	2	review	review	NOUN
ajst-17392	116	3	of	of	ADP
ajst-17392	116	4	agv	agv	NOUN
ajst-17392	116	5	technology	technology	NOUN
ajst-17392	116	6	development[j	development[j	PROPN
ajst-17392	116	7	]	]	PUNCT
ajst-17392	116	8	.	.	PUNCT
ajst-17392	117	1	logistics	logistic	NOUN
ajst-17392	117	2	technology	technology	NOUN
ajst-17392	117	3	and	and	CCONJ
ajst-17392	117	4	application,2015,20(11):93	application,2015,20(11):93	NOUN
ajst-17392	117	5	-	-	SYM
ajst-17392	117	6	95	95	NUM
ajst-17392	118	1	[	[	X
ajst-17392	118	2	2	2	NUM
ajst-17392	118	3	]	]	PUNCT
ajst-17392	118	4	jiaoz	jiaoz	PROPN
ajst-17392	118	5	,	,	PUNCT
ajst-17392	118	6	mak	mak	PROPN
ajst-17392	118	7	,	,	PUNCT
ajst-17392	118	8	rongy	rongy	NOUN
ajst-17392	118	9	,	,	PUNCT
ajst-17392	118	10	etal.a	etal.a	VERB
ajst-17392	118	11	path	path	NOUN
ajst-17392	118	12	planning	planning	NOUN
ajst-17392	118	13	method	method	NOUN
ajst-17392	118	14	using	use	VERB
ajst-17392	118	15	adaptive	adaptive	ADJ
ajst-17392	118	16	polymorphic	polymorphic	ADJ
ajst-17392	118	17	ant	ant	ADJ
ajst-17392	118	18	colony	colony	NOUN
ajst-17392	118	19	algorithm	algorithm	NOUN
ajst-17392	118	20	for	for	ADP
ajst-17392	118	21	smart	smart	ADJ
ajst-17392	118	22	wheelchairs[j].journal	wheelchairs[j].journal	NOUN
ajst-17392	118	23	of	of	ADP
ajst-17392	118	24	computational	computational	ADJ
ajst-17392	118	25	science,2018(25):5057	science,2018(25):5057	NOUN
ajst-17392	118	26	.	.	PUNCT
ajst-17392	119	1	[	[	X
ajst-17392	119	2	3	3	X
ajst-17392	119	3	]	]	PUNCT
ajst-17392	119	4	yifan	yifan	PROPN
ajst-17392	119	5	lin	lin	PROPN
ajst-17392	119	6	,	,	PUNCT
ajst-17392	119	7	yanjie	yanjie	PROPN
ajst-17392	119	8	chen	chen	PROPN
ajst-17392	119	9	,	,	PUNCT
ajst-17392	119	10	bingwei	bingwei	VERB
ajst-17392	119	11	he	he	PRON
ajst-17392	119	12	,	,	PUNCT
ajst-17392	119	13	et	et	PROPN
ajst-17392	119	14	al	al	PROPN
ajst-17392	119	15	.	.	PROPN
ajst-17392	119	16	motion	motion	NOUN
ajst-17392	119	17	planning	planning	NOUN
ajst-17392	119	18	method	method	NOUN
ajst-17392	119	19	for	for	ADP
ajst-17392	119	20	mobile	mobile	ADJ
ajst-17392	119	21	robots	robot	NOUN
ajst-17392	119	22	without	without	ADP
ajst-17392	119	23	collision	collision	NOUN
ajst-17392	119	24	detection	detection	NOUN
ajst-17392	119	25	rt*[j	rt*[j	PROPN
ajst-17392	119	26	]	]	PUNCT
ajst-17392	119	27	.	.	PUNCT
ajst-17392	120	1	journal	journal	PROPN
ajst-17392	120	2	of	of	ADP
ajst-17392	120	3	instrumentation	instrumentation	NOUN
ajst-17392	120	4	,	,	PUNCT
ajst-17392	120	5	2020,41(10):257	2020,41(10):257	NOUN
ajst-17392	120	6	-	-	SYM
ajst-17392	120	7	267	267	NUM
ajst-17392	120	8	.	.	PUNCT
ajst-17392	121	1	[	[	X
ajst-17392	121	2	4	4	NUM
ajst-17392	121	3	]	]	X
ajst-17392	121	4	doopalam	doopalam	PROPN
ajst-17392	121	5	t	t	PROPN
ajst-17392	121	6	,	,	PUNCT
ajst-17392	121	7	byambaa	byambaa	PROPN
ajst-17392	121	8	d	d	PROPN
ajst-17392	121	9	,	,	PUNCT
ajst-17392	121	10	deok	deok	PROPN
ajst-17392	121	11	j	j	PROPN
ajst-17392	121	12	l.hybridmotion	l.hybridmotion	NOUN
ajst-17392	121	13	planning	planning	NOUN
ajst-17392	121	14	method	method	NOUN
ajst-17392	121	15	for	for	ADP
ajst-17392	121	16	autonomous	autonomous	ADJ
ajst-17392	121	17	robots	robot	NOUN
ajst-17392	121	18	usingkinect	usingkinect	ADJ
ajst-17392	121	19	based	base	VERB
ajst-17392	121	20	sensorfusion	sensorfusion	NOUN
ajst-17392	121	21	and	and	CCONJ
ajst-17392	121	22	virtual	virtual	ADJ
ajst-17392	121	23	plane	plane	NOUN
ajst-17392	121	24	approach	approach	NOUN
ajst-17392	121	25	in	in	ADP
ajst-17392	121	26	dynamic	dynamic	ADJ
ajst-17392	121	27	environments	environment	NOUN
ajst-17392	122	1	[	[	X
ajst-17392	122	2	j].journal	j].journal	ADJ
ajst-17392	122	3	ofsensors	ofsensor	NOUN
ajst-17392	122	4	,	,	PUNCT
ajst-17392	122	5	2015(5):1	2015(5):1	PROPN
ajst-17392	122	6	-	-	SYM
ajst-17392	122	7	13	13	NUM
ajst-17392	122	8	.	.	PUNCT
ajst-17392	123	1	[	[	X
ajst-17392	123	2	5	5	NUM
ajst-17392	123	3	]	]	PUNCT
ajst-17392	123	4	x.	x.	NOUN
ajst-17392	123	5	zhang	zhang	PROPN
ajst-17392	123	6	,	,	PUNCT
ajst-17392	123	7	s.	s.	PROPN
ajst-17392	123	8	cheng	cheng	PROPN
ajst-17392	123	9	,	,	PUNCT
ajst-17392	123	10	x.	x.	PROPN
ajst-17392	123	11	hao	hao	PROPN
ajst-17392	123	12	,	,	PUNCT
ajst-17392	123	13	et	et	PROPN
ajst-17392	123	14	al	al	PROPN
ajst-17392	123	15	.	.	PUNCT
ajst-17392	124	1	a	a	DET
ajst-17392	124	2	dynamic	dynamic	ADJ
ajst-17392	124	3	path	path	NOUN
ajst-17392	124	4	planning	planning	NOUN
ajst-17392	124	5	algorithm	algorithm	NOUN
ajst-17392	124	6	for	for	ADP
ajst-17392	124	7	robots	robot	NOUN
ajst-17392	124	8	that	that	PRON
ajst-17392	124	9	balances	balance	VERB
ajst-17392	124	10	global	global	ADJ
ajst-17392	124	11	and	and	CCONJ
ajst-17392	124	12	local	local	ADJ
ajst-17392	124	13	characteristics[j	characteristics[j	PROPN
ajst-17392	124	14	]	]	PUNCT
ajst-17392	124	15	.	.	PUNCT
ajst-17392	125	1	journal	journal	PROPN
ajst-17392	125	2	of	of	ADP
ajst-17392	125	3	surveying	surveying	NOUN
ajst-17392	125	4	and	and	CCONJ
ajst-17392	125	5	mapping	mapping	NOUN
ajst-17392	125	6	science	science	NOUN
ajst-17392	125	7	and	and	CCONJ
ajst-17392	125	8	technology	technology	NOUN
ajst-17392	125	9	,	,	PUNCT
ajst-17392	125	10	2018,(3):315	2018,(3):315	PROPN
ajst-17392	125	11	-	-	SYM
ajst-17392	125	12	320	320	NUM
ajst-17392	125	13	.	.	PUNCT
ajst-17392	126	1	[	[	X
ajst-17392	126	2	6	6	NUM
ajst-17392	126	3	]	]	SYM
ajst-17392	126	4	li	li	PROPN
ajst-17392	126	5	zhiyin	zhiyin	PROPN
ajst-17392	126	6	,	,	PUNCT
ajst-17392	126	7	huang	huang	PROPN
ajst-17392	126	8	yiquing	yiquing	PROPN
ajst-17392	126	9	,	,	PUNCT
ajst-17392	126	10	xu	xu	PROPN
ajst-17392	126	11	yuqiong	yuqiong	PROPN
ajst-17392	126	12	.	.	PUNCT
ajst-17392	127	1	improved	improve	VERB
ajst-17392	127	2	variable	variable	ADJ
ajst-17392	127	3	step	step	NOUN
ajst-17392	127	4	size	size	NOUN
ajst-17392	127	5	ant	ant	ADJ
ajst-17392	127	6	colony	colony	NOUN
ajst-17392	127	7	algorithm	algorithm	NOUN
ajst-17392	127	8	for	for	ADP
ajst-17392	127	9	mobile	mobile	NOUN
ajst-17392	127	10	robot	robot	NOUN
ajst-17392	127	11	path	path	NOUN
ajst-17392	127	12	planning[j	planning[j	PROPN
ajst-17392	127	13	]	]	PUNCT
ajst-17392	127	14	.	.	PUNCT
ajst-17392	128	1	journal	journal	PROPN
ajst-17392	128	2	of	of	ADP
ajst-17392	128	3	electronic	electronic	ADJ
ajst-17392	128	4	measurement	measurement	NOUN
ajst-17392	128	5	and	and	CCONJ
ajst-17392	128	6	instrumentation	instrumentation	NOUN
ajst-17392	128	7	,	,	PUNCT
ajst-17392	128	8	2020	2020	NUM
ajst-17392	128	9	,	,	PUNCT
ajst-17392	128	10	34(8	34(8	NUM
ajst-17392	128	11	):	):	PUNCT
ajst-17392	128	12	15	15	NUM
ajst-17392	128	13	-	-	SYM
ajst-17392	128	14	21	21	NUM
ajst-17392	128	15	.	.	PUNCT
ajst-17392	129	1	[	[	X
ajst-17392	129	2	7	7	X
ajst-17392	129	3	]	]	X
ajst-17392	129	4	zhao	zhao	PROPN
ajst-17392	129	5	xiao	xiao	PROPN
ajst-17392	129	6	,	,	PUNCT
ajst-17392	129	7	wang	wang	PROPN
ajst-17392	129	8	zheng	zheng	PROPN
ajst-17392	129	9	,	,	PUNCT
ajst-17392	129	10	huang	huang	PROPN
ajst-17392	129	11	chengkan	chengkan	PROPN
ajst-17392	129	12	,	,	PUNCT
ajst-17392	129	13	et	et	PROPN
ajst-17392	129	14	al	al	PROPN
ajst-17392	129	15	.	.	PROPN
ajst-17392	129	16	mobile	mobile	PROPN
ajst-17392	129	17	robot	robot	PROPN
ajst-17392	129	18	path	path	PROPN
ajst-17392	129	19	planning	planning	NOUN
ajst-17392	129	20	based	base	VERB
ajst-17392	129	21	on	on	ADP
ajst-17392	129	22	improved	improve	VERB
ajst-17392	129	23	a	a	PRON
ajst-17392	129	24	*	*	PUNCT
ajst-17392	129	25	algorithm[j	algorithm[j	PROPN
ajst-17392	129	26	]	]	PUNCT
ajst-17392	129	27	.	.	PUNCT
ajst-17392	130	1	robotics	robotic	NOUN
ajst-17392	130	2	,	,	PUNCT
ajst-17392	130	3	2018	2018	NUM
ajst-17392	130	4	,	,	PUNCT
ajst-17392	130	5	40(6	40(6	NOUN
ajst-17392	130	6	):	):	PUNCT
ajst-17392	130	7	903	903	NUM
ajst-17392	130	8	-	-	PUNCT
ajst-17392	130	9	910	910	NUM
ajst-17392	130	10	.	.	PUNCT
ajst-17392	131	1	[	[	X
ajst-17392	131	2	8	8	NUM
ajst-17392	131	3	]	]	X
ajst-17392	131	4	wu	wu	PROPN
ajst-17392	131	5	yi	yi	PROPN
ajst-17392	131	6	,	,	PUNCT
ajst-17392	131	7	ou	ou	X
ajst-17392	131	8	mingmin	mingmin	PROPN
ajst-17392	131	9	,	,	PUNCT
ajst-17392	131	10	duan	duan	PROPN
ajst-17392	131	11	liwei	liwei	PROPN
ajst-17392	131	12	.	.	PUNCT
ajst-17392	132	1	research	research	NOUN
ajst-17392	132	2	on	on	ADP
ajst-17392	132	3	robot	robot	NOUN
ajst-17392	132	4	path	path	NOUN
ajst-17392	132	5	planning	planning	NOUN
ajst-17392	132	6	based	base	VERB
ajst-17392	132	7	on	on	ADP
ajst-17392	132	8	improved	improve	VERB
ajst-17392	132	9	a	a	DET
ajst-17392	132	10	*	*	ADJ
ajst-17392	132	11	algorithm	algorithm	NOUN
ajst-17392	132	12	and	and	CCONJ
ajst-17392	132	13	dynamic	dynamic	ADJ
ajst-17392	132	14	window	window	NOUN
ajst-17392	132	15	method[j	method[j	NOUN
ajst-17392	132	16	]	]	PUNCT
ajst-17392	132	17	.	.	PUNCT
ajst-17392	133	1	industrial	industrial	PROPN
ajst-17392	133	2	control	control	PROPN
ajst-17392	133	3	computer	computer	PROPN
ajst-17392	133	4	,	,	PUNCT
ajst-17392	133	5	2020,33(10	2020,33(10	NUM
ajst-17392	133	6	)	)	PUNCT
ajst-17392	133	7	67	67	NUM
ajst-17392	133	8	-	-	SYM
ajst-17392	133	9	70	70	NUM
ajst-17392	133	10	.	.	PUNCT
ajst-17392	134	1	[	[	X
ajst-17392	134	2	9	9	NUM
ajst-17392	134	3	]	]	X
ajst-17392	134	4	cheng	cheng	PROPN
ajst-17392	134	5	legend	legend	PROPN
ajst-17392	134	6	,	,	PUNCT
ajst-17392	134	7	hao	hao	PROPN
ajst-17392	134	8	xiangyang	xiangyang	PROPN
ajst-17392	134	9	,	,	PUNCT
ajst-17392	134	10	li	li	PROPN
ajst-17392	134	11	jiansheng	jiansheng	PROPN
ajst-17392	134	12	,	,	PUNCT
ajst-17392	134	13	et	et	PROPN
ajst-17392	134	14	al	al	PROPN
ajst-17392	134	15	.	.	PUNCT
ajst-17392	135	1	global	global	ADJ
ajst-17392	135	2	dynamic	dynamic	ADJ
ajst-17392	135	3	path	path	NOUN
ajst-17392	135	4	planning	planning	NOUN
ajst-17392	135	5	by	by	ADP
ajst-17392	135	6	integrating	integrate	VERB
ajst-17392	135	7	improved	improve	VERB
ajst-17392	135	8	a	a	DET
ajst-17392	135	9	*	*	ADJ
ajst-17392	135	10	algorithm	algorithm	NOUN
ajst-17392	135	11	and	and	CCONJ
ajst-17392	135	12	dynamic	dynamic	ADJ
ajst-17392	135	13	window	window	NOUN
ajst-17392	135	14	method[j	method[j	NOUN
ajst-17392	135	15	]	]	PUNCT
ajst-17392	135	16	.	.	PUNCT
ajst-17392	136	1	journal	journal	PROPN
ajst-17392	136	2	of	of	ADP
ajst-17392	136	3	xi'an	xi'an	PROPN
ajst-17392	136	4	jiaotong	jiaotong	PROPN
ajst-17392	136	5	university	university	PROPN
ajst-17392	136	6	,	,	PUNCT
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ajst-17392	136	8	-	-	SYM
ajst-17392	136	9	143	143	NUM
ajst-17392	136	10	.	.	PUNCT
ajst-17392	137	1	[	[	X
ajst-17392	137	2	10	10	NUM
ajst-17392	137	3	]	]	X
ajst-17392	137	4	y.	y.	PROPN
ajst-17392	137	5	x.	x.	PROPN
ajst-17392	137	6	wang	wang	PROPN
ajst-17392	137	7	,	,	PUNCT
ajst-17392	137	8	y.	y.	PROPN
ajst-17392	137	9	y.	y.	PROPN
ajst-17392	137	10	tian	tian	PROPN
ajst-17392	137	11	,	,	PUNCT
ajst-17392	137	12	x.	x.	PROPN
ajst-17392	137	13	li	li	PROPN
ajst-17392	137	14	,	,	PUNCT
ajst-17392	137	15	et	et	PROPN
ajst-17392	137	16	al	al	PROPN
ajst-17392	137	17	.	.	PROPN
ajst-17392	138	1	adaptive	adaptive	PROPN
ajst-17392	138	2	dwa	dwa	PROPN
ajst-17392	138	3	algorithm	algorithm	NOUN
ajst-17392	138	4	for	for	ADP
ajst-17392	138	5	traversing	traverse	VERB
ajst-17392	138	6	dense	dense	ADJ
ajst-17392	138	7	obstacles[j	obstacles[j	NOUN
ajst-17392	138	8	]	]	PUNCT
ajst-17392	138	9	.	.	PUNCT
ajst-17392	139	1	control	control	NOUN
ajst-17392	139	2	and	and	CCONJ
ajst-17392	139	3	decision	decision	NOUN
ajst-17392	139	4	making	making	NOUN
ajst-17392	139	5	,	,	PUNCT
ajst-17392	139	6	2019	2019	NUM
ajst-17392	139	7	,	,	PUNCT
ajst-17392	139	8	34(5	34(5	NUM
ajst-17392	139	9	):	):	PUNCT
ajst-17392	139	10	927	927	NUM
ajst-17392	139	11	-	-	SYM
ajst-17392	139	12	936	936	NUM
ajst-17392	139	13	.	.	PUNCT
ajst-17392	140	1	[	[	X
ajst-17392	140	2	11	11	NUM
ajst-17392	140	3	]	]	X
ajst-17392	140	4	wang	wang	PROPN
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ajst-17392	140	12	,	,	PUNCT
ajst-17392	140	13	et	et	PROPN
ajst-17392	140	14	al	al	PROPN
ajst-17392	140	15	.	.	PROPN
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ajst-17392	140	17	a~	a~	PROPN
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ajst-17392	140	19	algorithm	algorithm	NOUN
ajst-17392	140	20	for	for	ADP
ajst-17392	140	21	robot	robot	NOUN
ajst-17392	140	22	global	global	ADJ
ajst-17392	140	23	optimal	optimal	ADJ
ajst-17392	140	24	path	path	NOUN
ajst-17392	140	25	planning[j	planning[j	NOUN
ajst-17392	140	26	]	]	PUNCT
ajst-17392	140	27	.	.	PUNCT
ajst-17392	141	1	computer	computer	NOUN
ajst-17392	141	2	applications,2019,39(9):2517	applications,2019,39(9):2517	PROPN
ajst-17392	141	3	-	-	PUNCT
ajst-17392	141	4	2522	2522	NUM
ajst-17392	141	5	.	.	PUNCT
ajst-17392	142	1	[	[	X
ajst-17392	142	2	12	12	NUM
ajst-17392	142	3	]	]	X
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ajst-17392	142	12	.	.	PROPN
ajst-17392	142	13	path	path	PROPN
ajst-17392	142	14	planning	planning	NOUN
ajst-17392	142	15	for	for	ADP
ajst-17392	142	16	greenhouse	greenhouse	NOUN
ajst-17392	142	17	robots	robot	NOUN
ajst-17392	142	18	based	base	VERB
ajst-17392	142	19	on	on	ADP
ajst-17392	142	20	the	the	DET
ajst-17392	142	21	fusion	fusion	NOUN
ajst-17392	142	22	of	of	ADP
ajst-17392	142	23	improved	improved	ADJ
ajst-17392	142	24	a~	a~	PROPN
ajst-17392	142	25	*	*	PROPN
ajst-17392	142	26	and	and	CCONJ
ajst-17392	142	27	dwa	dwa	VERB
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ajst-17392	142	29	]	]	PUNCT
ajst-17392	142	30	.	.	PUNCT
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ajst-17392	142	32	of	of	ADP
ajst-17392	142	33	agricultural	agricultural	ADJ
ajst-17392	142	34	machinery	machinery	NOUN
ajst-17392	142	35	,	,	PUNCT
ajst-17392	142	36	2021	2021	NUM
ajst-17392	142	37	,	,	PUNCT
ajst-17392	142	38	52(1	52(1	NOUN
ajst-17392	142	39	):	):	PUNCT
ajst-17392	142	40	14	14	NUM
ajst-17392	142	41	-	-	SYM
ajst-17392	142	42	22	22	NUM
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ajst-17392	143	1	[	[	X
ajst-17392	143	2	13	13	NUM
ajst-17392	143	3	]	]	SYM
ajst-17392	143	4	wu	wu	PROPN
ajst-17392	143	5	feilong	feilong	PROPN
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ajst-17392	143	9	.	.	PUNCT
ajst-17392	144	1	fusion	fusion	NOUN
ajst-17392	144	2	of	of	ADP
ajst-17392	144	3	improved	improve	VERB
ajst-17392	144	4	a	a	DET
ajst-17392	144	5	*	*	ADJ
ajst-17392	144	6	and	and	CCONJ
ajst-17392	144	7	dynamic	dynamic	ADJ
ajst-17392	144	8	window	window	NOUN
ajst-17392	144	9	method	method	NOUN
ajst-17392	144	10	for	for	ADP
ajst-17392	144	11	agv	agv	NOUN
ajst-17392	144	12	dynamic	dynamic	ADJ
ajst-17392	144	13	path	path	NOUN
ajst-17392	144	14	planning[j	planning[j	NOUN
ajst-17392	144	15	]	]	PUNCT
ajst-17392	144	16	.	.	PUNCT
ajst-17392	145	1	science	science	NOUN
ajst-17392	145	2	,	,	PUNCT
ajst-17392	145	3	technology	technology	NOUN
ajst-17392	145	4	and	and	CCONJ
ajst-17392	145	5	engineering	engineering	NOUN
ajst-17392	145	6	,	,	PUNCT
ajst-17392	145	7	2020,20(30):1245212459	2020,20(30):1245212459	NUM
ajst-17392	145	8	.	.	PUNCT
ajst-17392	146	1	[	[	X
ajst-17392	146	2	14	14	NUM
ajst-17392	146	3	]	]	X
ajst-17392	146	4	chi	chi	PROPN
ajst-17392	146	5	x	x	PROPN
ajst-17392	146	6	,	,	PUNCT
ajst-17392	146	7	li	li	PROPN
ajst-17392	146	8	h	h	PROPN
ajst-17392	146	9	,	,	PUNCT
ajst-17392	146	10	fei	fei	PROPN
ajst-17392	146	11	jy	jy	PROPN
ajst-17392	146	12	.	.	PUNCT
ajst-17392	146	13	research	research	NOUN
ajst-17392	146	14	on	on	ADP
ajst-17392	146	15	random	random	ADJ
ajst-17392	146	16	obstacle	obstacle	NOUN
ajst-17392	146	17	avoidance	avoidance	NOUN
ajst-17392	146	18	method	method	NOUN
ajst-17392	146	19	for	for	ADP
ajst-17392	146	20	robots	robot	NOUN
ajst-17392	146	21	based	base	VERB
ajst-17392	146	22	on	on	ADP
ajst-17392	146	23	the	the	DET
ajst-17392	146	24	fusion	fusion	NOUN
ajst-17392	146	25	of	of	ADP
ajst-17392	146	26	improved	improve	VERB
ajst-17392	146	27	a	a	DET
ajst-17392	146	28	*	*	ADJ
ajst-17392	146	29	algorithm	algorithm	NOUN
ajst-17392	146	30	and	and	CCONJ
ajst-17392	146	31	dynamic	dynamic	ADJ
ajst-17392	146	32	window	window	NOUN
ajst-17392	146	33	method[j	method[j	NOUN
ajst-17392	146	34	]	]	PUNCT
ajst-17392	146	35	.	.	PUNCT
ajst-17392	147	1	journal	journal	PROPN
ajst-17392	147	2	of	of	ADP
ajst-17392	147	3	instrumentation	instrumentation	NOUN
ajst-17392	147	4	,	,	PUNCT
ajst-17392	147	5	2021,42(3):132	2021,42(3):132	NUM
ajst-17392	147	6	-	-	NOUN
ajst-17392	147	7	140	140	NUM
ajst-17392	147	8	.	.	PUNCT
ajst-17392	148	1	[	[	X
ajst-17392	148	2	15	15	NUM
ajst-17392	148	3	]	]	X
ajst-17392	148	4	geng	geng	PROPN
ajst-17392	148	5	h.	h.	PROPN
ajst-17392	148	6	f.	f.	PROPN
ajst-17392	148	7	,	,	PUNCT
ajst-17392	148	8	shen	shen	PROPN
ajst-17392	148	9	j.	j.	PROPN
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ajst-17392	148	12	and	and	CCONJ
ajst-17392	148	13	validation	validation	NOUN
ajst-17392	148	14	of	of	ADP
ajst-17392	148	15	a	a	DET
ajst-17392	148	16	*	*	ADJ
ajst-17392	148	17	algorithm	algorithm	NOUN
ajst-17392	148	18	on	on	ADP
ajst-17392	148	19	robot	robot	NOUN
ajst-17392	148	20	path	path	NOUN
ajst-17392	148	21	planning[j	planning[j	PROPN
ajst-17392	148	22	]	]	PUNCT
ajst-17392	148	23	.	.	PUNCT
ajst-17392	149	1	computer	computer	NOUN
ajst-17392	149	2	applications	application	NOUN
ajst-17392	149	3	and	and	CCONJ
ajst-17392	149	4	software	software	NOUN
ajst-17392	149	5	,	,	PUNCT
ajst-17392	149	6	2022,39(1	2022,39(1	NUM
ajst-17392	149	7	):	):	PUNCT
ajst-17392	149	8	282	282	NUM
ajst-17392	149	9	-	-	SYM
ajst-17392	149	10	286	286	NUM
ajst-17392	149	11	.	.	PUNCT