id	sid	tid	token	lemma	pos
ajst-4781	1	1	academic	academic	ADJ
ajst-4781	1	2	journal	journal	NOUN
ajst-4781	1	3	of	of	ADP
ajst-4781	1	4	science	science	NOUN
ajst-4781	1	5	and	and	CCONJ
ajst-4781	1	6	technology	technology	NOUN
ajst-4781	1	7	issn	issn	NOUN
ajst-4781	1	8	:	:	PUNCT
ajst-4781	1	9	2771	2771	NUM
ajst-4781	1	10	-	-	SYM
ajst-4781	1	11	3032	3032	NUM
ajst-4781	1	12	|	|	NOUN
ajst-4781	1	13	vol	vol	NOUN
ajst-4781	1	14	.	.	PROPN
ajst-4781	2	1	4	4	NUM
ajst-4781	2	2	,	,	PUNCT
ajst-4781	2	3	no	no	INTJ
ajst-4781	2	4	.	.	NOUN
ajst-4781	2	5	3	3	NUM
ajst-4781	2	6	,	,	PUNCT
ajst-4781	2	7	2022	2022	NUM
ajst-4781	2	8	30	30	NUM
ajst-4781	2	9	local	local	ADJ
ajst-4781	2	10	path	path	NOUN
ajst-4781	2	11	planning	planning	NOUN
ajst-4781	2	12	of	of	ADP
ajst-4781	2	13	usv	usv	ADV
ajst-4781	2	14	based	base	VERB
ajst-4781	2	15	on	on	ADP
ajst-4781	2	16	millimeter	millimeter	NOUN
ajst-4781	2	17	wave	wave	NOUN
ajst-4781	2	18	radar	radar	NOUN
ajst-4781	2	19	peilin	peilin	PROPN
ajst-4781	2	20	hu1	hu1	PROPN
ajst-4781	2	21	,	,	PUNCT
ajst-4781	2	22	2	2	NUM
ajst-4781	2	23	,	,	PUNCT
ajst-4781	2	24	3	3	NUM
ajst-4781	2	25	,	,	PUNCT
ajst-4781	2	26	4	4	NUM
ajst-4781	2	27	,	,	PUNCT
ajst-4781	2	28	jinchao	jinchao	PROPN
ajst-4781	2	29	xiao4	xiao4	PROPN
ajst-4781	2	30	,	,	PUNCT
ajst-4781	2	31	junfeng	junfeng	PROPN
ajst-4781	2	32	xiong4	xiong4	X
ajst-4781	3	1	and	and	CCONJ
ajst-4781	3	2	jinqing	jinqing	PROPN
ajst-4781	3	3	liu1	liu1	PROPN
ajst-4781	3	4	,	,	PUNCT
ajst-4781	3	5	2	2	NUM
ajst-4781	3	6	,	,	PUNCT
ajst-4781	3	7	3	3	NUM
ajst-4781	3	8	,	,	PUNCT
ajst-4781	3	9	*	*	PROPN
ajst-4781	3	10	1college	1college	NUM
ajst-4781	3	11	of	of	ADP
ajst-4781	3	12	photonic	photonic	ADJ
ajst-4781	3	13	and	and	CCONJ
ajst-4781	3	14	electronic	electronic	ADJ
ajst-4781	3	15	engineering	engineering	NOUN
ajst-4781	3	16	,	,	PUNCT
ajst-4781	3	17	fujian	fujian	PROPN
ajst-4781	3	18	normal	normal	ADJ
ajst-4781	3	19	university	university	PROPN
ajst-4781	3	20	,	,	PUNCT
ajst-4781	3	21	fuzhou	fuzhou	PROPN
ajst-4781	3	22	,	,	PUNCT
ajst-4781	3	23	350007	350007	NUM
ajst-4781	3	24	,	,	PUNCT
ajst-4781	3	25	china	china	PROPN
ajst-4781	3	26	.	.	PUNCT
ajst-4781	4	1	2key	2key	NUM
ajst-4781	4	2	laboratory	laboratory	NOUN
ajst-4781	4	3	of	of	ADP
ajst-4781	4	4	optoelectronic	optoelectronic	ADJ
ajst-4781	4	5	science	science	NOUN
ajst-4781	4	6	and	and	CCONJ
ajst-4781	4	7	technology	technology	NOUN
ajst-4781	4	8	for	for	ADP
ajst-4781	4	9	medicine	medicine	NOUN
ajst-4781	4	10	,	,	PUNCT
ajst-4781	4	11	ministry	ministry	PROPN
ajst-4781	4	12	of	of	ADP
ajst-4781	4	13	education	education	PROPN
ajst-4781	4	14	,	,	PUNCT
ajst-4781	4	15	fujian	fujian	PROPN
ajst-4781	4	16	normal	normal	ADJ
ajst-4781	4	17	university	university	PROPN
ajst-4781	4	18	,	,	PUNCT
ajst-4781	4	19	fuzhou	fuzhou	PROPN
ajst-4781	4	20	,	,	PUNCT
ajst-4781	4	21	350007	350007	NUM
ajst-4781	4	22	,	,	PUNCT
ajst-4781	4	23	china	china	PROPN
ajst-4781	4	24	.	.	PUNCT
ajst-4781	5	1	3fujian	3fujian	NUM
ajst-4781	5	2	provincial	provincial	ADJ
ajst-4781	5	3	key	key	ADJ
ajst-4781	5	4	laboratory	laboratory	NOUN
ajst-4781	5	5	of	of	ADP
ajst-4781	5	6	photonic	photonic	ADJ
ajst-4781	5	7	technology	technology	NOUN
ajst-4781	5	8	,	,	PUNCT
ajst-4781	5	9	fujian	fujian	PROPN
ajst-4781	5	10	normal	normal	ADJ
ajst-4781	5	11	university	university	PROPN
ajst-4781	5	12	,	,	PUNCT
ajst-4781	5	13	fuzhou	fuzhou	PROPN
ajst-4781	5	14	,	,	PUNCT
ajst-4781	5	15	350007	350007	NUM
ajst-4781	5	16	,	,	PUNCT
ajst-4781	5	17	china	china	PROPN
ajst-4781	5	18	.	.	PUNCT
ajst-4781	6	1	4guangzhou	4guangzhou	DET
ajst-4781	6	2	institute	institute	PROPN
ajst-4781	6	3	of	of	ADP
ajst-4781	6	4	industrial	industrial	ADJ
ajst-4781	6	5	intelligence	intelligence	NOUN
ajst-4781	6	6	,	,	PUNCT
ajst-4781	6	7	guangzhou	guangzhou	PROPN
ajst-4781	6	8	,	,	PUNCT
ajst-4781	6	9	511458	511458	NUM
ajst-4781	6	10	,	,	PUNCT
ajst-4781	6	11	china	china	PROPN
ajst-4781	6	12	.	.	PUNCT
ajst-4781	7	1	*	*	PUNCT
ajst-4781	7	2	corresponding	correspond	VERB
ajst-4781	7	3	author	author	NOUN
ajst-4781	7	4	:	:	PUNCT
ajst-4781	7	5	jinqing	jinqe	VERB
ajst-4781	7	6	liu	liu	PROPN
ajst-4781	7	7	abstract	abstract	NOUN
ajst-4781	7	8	:	:	PUNCT
ajst-4781	7	9	the	the	DET
ajst-4781	7	10	usv	usv	ADJ
ajst-4781	7	11	(	(	PUNCT
ajst-4781	7	12	unmanned	unmanned	ADJ
ajst-4781	7	13	surface	surface	NOUN
ajst-4781	7	14	vehicle	vehicle	NOUN
ajst-4781	7	15	)	)	PUNCT
ajst-4781	7	16	have	have	VERB
ajst-4781	7	17	unpredictable	unpredictable	ADJ
ajst-4781	7	18	obstacles	obstacle	NOUN
ajst-4781	7	19	in	in	ADP
ajst-4781	7	20	the	the	DET
ajst-4781	7	21	process	process	NOUN
ajst-4781	7	22	of	of	ADP
ajst-4781	7	23	performing	perform	VERB
ajst-4781	7	24	missions	mission	NOUN
ajst-4781	7	25	.	.	PUNCT
ajst-4781	8	1	to	to	PART
ajst-4781	8	2	avoid	avoid	VERB
ajst-4781	8	3	obstacles	obstacle	NOUN
ajst-4781	8	4	smoothly	smoothly	ADV
ajst-4781	8	5	,	,	PUNCT
ajst-4781	8	6	a	a	DET
ajst-4781	8	7	local	local	ADJ
ajst-4781	8	8	path	path	NOUN
ajst-4781	8	9	planning	planning	NOUN
ajst-4781	8	10	method	method	NOUN
ajst-4781	8	11	based	base	VERB
ajst-4781	8	12	on	on	ADP
ajst-4781	8	13	millimeter	millimeter	NOUN
ajst-4781	8	14	wave	wave	NOUN
ajst-4781	8	15	radar	radar	NOUN
ajst-4781	8	16	detection	detection	NOUN
ajst-4781	8	17	is	be	AUX
ajst-4781	8	18	proposed	propose	VERB
ajst-4781	8	19	.	.	PUNCT
ajst-4781	9	1	an	an	DET
ajst-4781	9	2	optimal	optimal	ADJ
ajst-4781	9	3	path	path	NOUN
ajst-4781	9	4	under	under	ADP
ajst-4781	9	5	the	the	DET
ajst-4781	9	6	constraints	constraint	NOUN
ajst-4781	9	7	of	of	ADP
ajst-4781	9	8	local	local	ADJ
ajst-4781	9	9	path	path	NOUN
ajst-4781	9	10	length	length	NOUN
ajst-4781	9	11	and	and	CCONJ
ajst-4781	9	12	smoothness	smoothness	NOUN
ajst-4781	9	13	is	be	AUX
ajst-4781	9	14	screened	screen	VERB
ajst-4781	9	15	out	out	ADP
ajst-4781	9	16	by	by	ADP
ajst-4781	9	17	improving	improve	VERB
ajst-4781	9	18	the	the	DET
ajst-4781	9	19	b	b	PROPN
ajst-4781	9	20	-	-	PUNCT
ajst-4781	9	21	spline	spline	NOUN
ajst-4781	9	22	curve	curve	NOUN
ajst-4781	9	23	method	method	NOUN
ajst-4781	9	24	,	,	PUNCT
ajst-4781	9	25	and	and	CCONJ
ajst-4781	9	26	the	the	DET
ajst-4781	9	27	navigation	navigation	NOUN
ajst-4781	9	28	safety	safety	NOUN
ajst-4781	9	29	and	and	CCONJ
ajst-4781	9	30	optimization	optimization	NOUN
ajst-4781	9	31	of	of	ADP
ajst-4781	9	32	usv	usv	ADJ
ajst-4781	9	33	are	be	AUX
ajst-4781	9	34	improved	improve	VERB
ajst-4781	9	35	through	through	ADP
ajst-4781	9	36	the	the	DET
ajst-4781	9	37	actual	actual	ADJ
ajst-4781	9	38	verification	verification	NOUN
ajst-4781	9	39	of	of	ADP
ajst-4781	9	40	multiple	multiple	ADJ
ajst-4781	9	41	launchings	launching	NOUN
ajst-4781	9	42	.	.	PUNCT
ajst-4781	10	1	keywords	keyword	NOUN
ajst-4781	10	2	:	:	PUNCT
ajst-4781	10	3	usv	usv	ADJ
ajst-4781	10	4	,	,	PUNCT
ajst-4781	10	5	obstacle	obstacle	NOUN
ajst-4781	10	6	,	,	PUNCT
ajst-4781	10	7	millimeter	millimeter	NOUN
ajst-4781	10	8	wave	wave	PROPN
ajst-4781	10	9	radar	radar	NOUN
ajst-4781	10	10	,	,	PUNCT
ajst-4781	10	11	improved	improve	VERB
ajst-4781	10	12	b	b	NUM
ajst-4781	10	13	-	-	PUNCT
ajst-4781	10	14	spline	spline	NOUN
ajst-4781	10	15	curve	curve	NOUN
ajst-4781	10	16	.	.	PUNCT
ajst-4781	11	1	1	1	X
ajst-4781	11	2	.	.	X
ajst-4781	11	3	introduction	introduction	NOUN
ajst-4781	11	4	the	the	DET
ajst-4781	11	5	usv	usv	ADJ
ajst-4781	11	6	refers	refer	VERB
ajst-4781	11	7	to	to	ADP
ajst-4781	11	8	sailing	sail	VERB
ajst-4781	11	9	in	in	ADP
ajst-4781	11	10	an	an	DET
ajst-4781	11	11	autonomous	autonomous	ADJ
ajst-4781	11	12	or	or	CCONJ
ajst-4781	11	13	semiautonomous	semiautonomous	ADJ
ajst-4781	11	14	manner	manner	NOUN
ajst-4781	11	15	on	on	ADP
ajst-4781	11	16	a	a	DET
ajst-4781	11	17	known	know	VERB
ajst-4781	11	18	or	or	CCONJ
ajst-4781	11	19	unknown	unknown	ADJ
ajst-4781	11	20	water	water	NOUN
ajst-4781	11	21	surface	surface	NOUN
ajst-4781	11	22	environment	environment	NOUN
ajst-4781	11	23	with	with	ADP
ajst-4781	11	24	the	the	DET
ajst-4781	11	25	help	help	NOUN
ajst-4781	11	26	of	of	ADP
ajst-4781	11	27	internal	internal	ADJ
ajst-4781	11	28	sensors	sensor	NOUN
ajst-4781	11	29	and	and	CCONJ
ajst-4781	11	30	external	external	ADJ
ajst-4781	11	31	sensors	sensor	NOUN
ajst-4781	11	32	without	without	ADP
ajst-4781	11	33	a	a	DET
ajst-4781	11	34	crew	crew	NOUN
ajst-4781	11	35	and	and	CCONJ
ajst-4781	11	36	executes	execute	VERB
ajst-4781	11	37	preset	preset	ADJ
ajst-4781	11	38	task	task	NOUN
ajst-4781	11	39	robot	robot	NOUN
ajst-4781	11	40	.	.	PUNCT
ajst-4781	12	1	it	it	PRON
ajst-4781	12	2	can	can	AUX
ajst-4781	12	3	effectively	effectively	ADV
ajst-4781	12	4	solve	solve	VERB
ajst-4781	12	5	the	the	DET
ajst-4781	12	6	waste	waste	NOUN
ajst-4781	12	7	of	of	ADP
ajst-4781	12	8	human	human	ADJ
ajst-4781	12	9	resources	resource	NOUN
ajst-4781	12	10	,	,	PUNCT
ajst-4781	12	11	reduce	reduce	VERB
ajst-4781	12	12	human	human	ADJ
ajst-4781	12	13	misoperation	misoperation	NOUN
ajst-4781	12	14	,	,	PUNCT
ajst-4781	12	15	and	and	CCONJ
ajst-4781	12	16	optimize	optimize	VERB
ajst-4781	12	17	navigation	navigation	NOUN
ajst-4781	12	18	routes	route	NOUN
ajst-4781	12	19	which	which	PRON
ajst-4781	12	20	is	be	AUX
ajst-4781	12	21	widely	widely	ADV
ajst-4781	12	22	used	use	VERB
ajst-4781	12	23	in	in	ADP
ajst-4781	12	24	hydrological	hydrological	ADJ
ajst-4781	12	25	monitoring	monitoring	NOUN
ajst-4781	12	26	,	,	PUNCT
ajst-4781	12	27	water	water	NOUN
ajst-4781	12	28	quality	quality	NOUN
ajst-4781	12	29	sampling	sampling	NOUN
ajst-4781	12	30	,	,	PUNCT
ajst-4781	12	31	sea	sea	NOUN
ajst-4781	12	32	rescue	rescue	NOUN
ajst-4781	12	33	,	,	PUNCT
ajst-4781	12	34	reconnaissance	reconnaissance	NOUN
ajst-4781	12	35	,	,	PUNCT
ajst-4781	12	36	and	and	CCONJ
ajst-4781	12	37	other	other	ADJ
ajst-4781	12	38	fields	field	NOUN
ajst-4781	12	39	[	[	X
ajst-4781	12	40	1	1	NUM
ajst-4781	12	41	]	]	PUNCT
ajst-4781	12	42	.	.	PUNCT
ajst-4781	13	1	in	in	ADP
ajst-4781	13	2	the	the	DET
ajst-4781	13	3	process	process	NOUN
ajst-4781	13	4	of	of	ADP
ajst-4781	13	5	executing	execute	VERB
ajst-4781	13	6	the	the	DET
ajst-4781	13	7	mission	mission	NOUN
ajst-4781	13	8	,	,	PUNCT
ajst-4781	13	9	to	to	PART
ajst-4781	13	10	ensure	ensure	VERB
ajst-4781	13	11	the	the	DET
ajst-4781	13	12	safety	safety	NOUN
ajst-4781	13	13	of	of	ADP
ajst-4781	13	14	navigation	navigation	NOUN
ajst-4781	13	15	,	,	PUNCT
ajst-4781	13	16	it	it	PRON
ajst-4781	13	17	is	be	AUX
ajst-4781	13	18	necessary	necessary	ADJ
ajst-4781	13	19	to	to	PART
ajst-4781	13	20	make	make	VERB
ajst-4781	13	21	a	a	DET
ajst-4781	13	22	corresponding	corresponding	ADJ
ajst-4781	13	23	local	local	ADJ
ajst-4781	13	24	path	path	NOUN
ajst-4781	13	25	planning	planning	NOUN
ajst-4781	13	26	when	when	SCONJ
ajst-4781	13	27	facing	face	VERB
ajst-4781	13	28	obstacles	obstacle	NOUN
ajst-4781	13	29	.	.	PUNCT
ajst-4781	14	1	so	so	ADV
ajst-4781	14	2	,	,	PUNCT
ajst-4781	14	3	how	how	SCONJ
ajst-4781	14	4	to	to	PART
ajst-4781	14	5	ensure	ensure	VERB
ajst-4781	14	6	the	the	DET
ajst-4781	14	7	optimization	optimization	NOUN
ajst-4781	14	8	of	of	ADP
ajst-4781	14	9	the	the	DET
ajst-4781	14	10	local	local	ADJ
ajst-4781	14	11	path	path	NOUN
ajst-4781	14	12	is	be	AUX
ajst-4781	14	13	an	an	DET
ajst-4781	14	14	urgent	urgent	ADJ
ajst-4781	14	15	problem	problem	NOUN
ajst-4781	14	16	to	to	PART
ajst-4781	14	17	be	be	AUX
ajst-4781	14	18	solved	solve	VERB
ajst-4781	14	19	.	.	PUNCT
ajst-4781	15	1	in	in	ADP
ajst-4781	15	2	recent	recent	ADJ
ajst-4781	15	3	years	year	NOUN
ajst-4781	15	4	,	,	PUNCT
ajst-4781	15	5	relevant	relevant	ADJ
ajst-4781	15	6	scholars	scholar	NOUN
ajst-4781	15	7	and	and	CCONJ
ajst-4781	15	8	researchers	researcher	NOUN
ajst-4781	15	9	have	have	AUX
ajst-4781	15	10	done	do	VERB
ajst-4781	15	11	a	a	DET
ajst-4781	15	12	lot	lot	NOUN
ajst-4781	15	13	of	of	ADP
ajst-4781	15	14	research	research	NOUN
ajst-4781	15	15	.	.	PUNCT
ajst-4781	16	1	the	the	DET
ajst-4781	16	2	literature	literature	NOUN
ajst-4781	16	3	[	[	X
ajst-4781	16	4	2	2	X
ajst-4781	16	5	]	]	PUNCT
ajst-4781	16	6	divides	divides	AUX
ajst-4781	16	7	obstacle	obstacle	NOUN
ajst-4781	16	8	avoidance	avoidance	NOUN
ajst-4781	16	9	scenarios	scenario	NOUN
ajst-4781	16	10	into	into	ADP
ajst-4781	16	11	four	four	NUM
ajst-4781	16	12	collision	collision	NOUN
ajst-4781	16	13	risk	risk	NOUN
ajst-4781	16	14	levels	level	NOUN
ajst-4781	16	15	:	:	PUNCT
ajst-4781	16	16	high	high	ADJ
ajst-4781	16	17	,	,	PUNCT
ajst-4781	16	18	medium	medium	ADJ
ajst-4781	16	19	,	,	PUNCT
ajst-4781	16	20	low	low	ADJ
ajst-4781	16	21	,	,	PUNCT
ajst-4781	16	22	and	and	CCONJ
ajst-4781	16	23	zero	zero	NUM
ajst-4781	16	24	,	,	PUNCT
ajst-4781	16	25	and	and	CCONJ
ajst-4781	16	26	adopts	adopt	VERB
ajst-4781	16	27	different	different	ADJ
ajst-4781	16	28	coping	cope	VERB
ajst-4781	16	29	strategies	strategy	NOUN
ajst-4781	16	30	for	for	ADP
ajst-4781	16	31	obstacles	obstacle	NOUN
ajst-4781	16	32	with	with	ADP
ajst-4781	16	33	different	different	ADJ
ajst-4781	16	34	collision	collision	NOUN
ajst-4781	16	35	risk	risk	NOUN
ajst-4781	16	36	levels	level	NOUN
ajst-4781	16	37	.	.	PUNCT
ajst-4781	17	1	the	the	DET
ajst-4781	17	2	rationality	rationality	NOUN
ajst-4781	17	3	and	and	CCONJ
ajst-4781	17	4	safety	safety	NOUN
ajst-4781	17	5	of	of	ADP
ajst-4781	17	6	the	the	DET
ajst-4781	17	7	usv	usv	ADJ
ajst-4781	17	8	avoiding	avoid	VERB
ajst-4781	17	9	obstacles	obstacle	NOUN
ajst-4781	17	10	in	in	ADP
ajst-4781	17	11	actual	actual	ADJ
ajst-4781	17	12	navigation	navigation	NOUN
ajst-4781	17	13	are	be	AUX
ajst-4781	17	14	improved	improve	VERB
ajst-4781	17	15	.	.	PUNCT
ajst-4781	18	1	the	the	DET
ajst-4781	18	2	literature	literature	NOUN
ajst-4781	18	3	[	[	X
ajst-4781	18	4	3	3	NUM
ajst-4781	18	5	]	]	PUNCT
ajst-4781	18	6	designed	design	VERB
ajst-4781	18	7	a	a	DET
ajst-4781	18	8	hybrid	hybrid	ADJ
ajst-4781	18	9	fuzzy	fuzzy	NOUN
ajst-4781	18	10	and	and	CCONJ
ajst-4781	18	11	iapf	iapf	PROPN
ajst-4781	18	12	(	(	PUNCT
ajst-4781	18	13	improved	improve	VERB
ajst-4781	18	14	artificial	artificial	ADJ
ajst-4781	18	15	potential	potential	ADJ
ajst-4781	18	16	field	field	NOUN
ajst-4781	18	17	)	)	PUNCT
ajst-4781	18	18	obstacle	obstacle	NOUN
ajst-4781	18	19	avoidance	avoidance	NOUN
ajst-4781	18	20	algorithm	algorithm	NOUN
ajst-4781	18	21	based	base	VERB
ajst-4781	18	22	on	on	ADP
ajst-4781	18	23	scanning	scan	VERB
ajst-4781	18	24	sonar	sonar	NOUN
ajst-4781	18	25	by	by	ADP
ajst-4781	18	26	combining	combine	VERB
ajst-4781	18	27	the	the	DET
ajst-4781	18	28	iapf	iapf	ADJ
ajst-4781	18	29	and	and	CCONJ
ajst-4781	18	30	fuzzy	fuzzy	ADJ
ajst-4781	18	31	logic	logic	NOUN
ajst-4781	18	32	control	control	NOUN
ajst-4781	18	33	,	,	PUNCT
ajst-4781	18	34	which	which	PRON
ajst-4781	18	35	can	can	AUX
ajst-4781	18	36	not	not	PART
ajst-4781	18	37	only	only	ADV
ajst-4781	18	38	overcome	overcome	VERB
ajst-4781	18	39	the	the	DET
ajst-4781	18	40	inherent	inherent	ADJ
ajst-4781	18	41	defects	defect	NOUN
ajst-4781	18	42	of	of	ADP
ajst-4781	18	43	the	the	DET
ajst-4781	18	44	tapf	tapf	NOUN
ajst-4781	18	45	(	(	PUNCT
ajst-4781	18	46	traditional	traditional	ADJ
ajst-4781	18	47	artificial	artificial	ADJ
ajst-4781	18	48	potential	potential	ADJ
ajst-4781	18	49	field	field	NOUN
ajst-4781	18	50	)	)	PUNCT
ajst-4781	18	51	,	,	PUNCT
ajst-4781	18	52	and	and	CCONJ
ajst-4781	18	53	can	can	AUX
ajst-4781	18	54	guide	guide	VERB
ajst-4781	18	55	the	the	DET
ajst-4781	18	56	usv	usv	NOUN
ajst-4781	18	57	to	to	PART
ajst-4781	18	58	leave	leave	VERB
ajst-4781	18	59	the	the	DET
ajst-4781	18	60	unknown	unknown	ADJ
ajst-4781	18	61	sea	sea	NOUN
ajst-4781	18	62	area	area	NOUN
ajst-4781	18	63	with	with	ADP
ajst-4781	18	64	complex	complex	ADJ
ajst-4781	18	65	obstacle	obstacle	NOUN
ajst-4781	18	66	distribution	distribution	NOUN
ajst-4781	18	67	.	.	PUNCT
ajst-4781	19	1	the	the	DET
ajst-4781	19	2	literature	literature	NOUN
ajst-4781	19	3	[	[	X
ajst-4781	19	4	4	4	X
ajst-4781	19	5	]	]	PUNCT
ajst-4781	19	6	predicts	predict	VERB
ajst-4781	19	7	the	the	DET
ajst-4781	19	8	trajectory	trajectory	NOUN
ajst-4781	19	9	of	of	ADP
ajst-4781	19	10	obstacles	obstacle	NOUN
ajst-4781	19	11	and	and	CCONJ
ajst-4781	19	12	uses	use	VERB
ajst-4781	19	13	the	the	DET
ajst-4781	19	14	evaluation	evaluation	NOUN
ajst-4781	19	15	function	function	NOUN
ajst-4781	19	16	to	to	PART
ajst-4781	19	17	select	select	VERB
ajst-4781	19	18	the	the	DET
ajst-4781	19	19	optimal	optimal	ADJ
ajst-4781	19	20	obstacle	obstacle	NOUN
ajst-4781	19	21	avoidance	avoidance	NOUN
ajst-4781	19	22	area	area	NOUN
ajst-4781	19	23	and	and	CCONJ
ajst-4781	19	24	the	the	DET
ajst-4781	19	25	corresponding	corresponding	ADJ
ajst-4781	19	26	speed	speed	NOUN
ajst-4781	19	27	to	to	PART
ajst-4781	19	28	avoid	avoid	VERB
ajst-4781	19	29	obstacles	obstacle	NOUN
ajst-4781	19	30	in	in	ADP
ajst-4781	19	31	time	time	NOUN
ajst-4781	19	32	.	.	PUNCT
ajst-4781	20	1	the	the	DET
ajst-4781	20	2	literature	literature	NOUN
ajst-4781	20	3	[	[	X
ajst-4781	20	4	5	5	NUM
ajst-4781	20	5	]	]	PUNCT
ajst-4781	20	6	proposed	propose	VERB
ajst-4781	20	7	a	a	DET
ajst-4781	20	8	dynamic	dynamic	ADJ
ajst-4781	20	9	obstacle	obstacle	NOUN
ajst-4781	20	10	avoidance	avoidance	NOUN
ajst-4781	20	11	method	method	NOUN
ajst-4781	20	12	considering	consider	VERB
ajst-4781	20	13	international	international	ADJ
ajst-4781	20	14	maritime	maritime	ADJ
ajst-4781	20	15	rules	rule	NOUN
ajst-4781	20	16	,	,	PUNCT
ajst-4781	20	17	established	establish	VERB
ajst-4781	20	18	a	a	DET
ajst-4781	20	19	collision	collision	NOUN
ajst-4781	20	20	risk	risk	NOUN
ajst-4781	20	21	model	model	NOUN
ajst-4781	20	22	based	base	VERB
ajst-4781	20	23	on	on	ADP
ajst-4781	20	24	dcpa	dcpa	NOUN
ajst-4781	20	25	（	（	PUNCT
ajst-4781	20	26	distance	distance	NOUN
ajst-4781	20	27	to	to	ADP
ajst-4781	20	28	closest	close	ADJ
ajst-4781	20	29	point	point	NOUN
ajst-4781	20	30	of	of	ADP
ajst-4781	20	31	approach）and	approach）and	PROPN
ajst-4781	20	32	tcpa	tcpa	NOUN
ajst-4781	20	33	（	（	PUNCT
ajst-4781	20	34	time	time	NOUN
ajst-4781	20	35	to	to	ADP
ajst-4781	20	36	closest	close	ADJ
ajst-4781	20	37	point	point	NOUN
ajst-4781	20	38	of	of	ADP
ajst-4781	20	39	approach	approach	NOUN
ajst-4781	20	40	）	）	PROPN
ajst-4781	20	41	,	,	PUNCT
ajst-4781	20	42	and	and	CCONJ
ajst-4781	20	43	realize	realize	VERB
ajst-4781	20	44	real	real	ADJ
ajst-4781	20	45	-	-	PUNCT
ajst-4781	20	46	time	time	NOUN
ajst-4781	20	47	obstacle	obstacle	NOUN
ajst-4781	20	48	avoidance	avoidance	NOUN
ajst-4781	20	49	by	by	ADP
ajst-4781	20	50	iapf	iapf	NOUN
ajst-4781	20	51	and	and	CCONJ
ajst-4781	20	52	obstacle	obstacle	VERB
ajst-4781	20	53	connection	connection	NOUN
ajst-4781	20	54	strategy	strategy	NOUN
ajst-4781	20	55	.	.	PUNCT
ajst-4781	21	1	the	the	DET
ajst-4781	21	2	literature	literature	NOUN
ajst-4781	21	3	[	[	X
ajst-4781	21	4	6	6	NUM
ajst-4781	21	5	]	]	PUNCT
ajst-4781	21	6	uses	use	VERB
ajst-4781	21	7	the	the	DET
ajst-4781	21	8	dynamic	dynamic	ADJ
ajst-4781	21	9	window	window	NOUN
ajst-4781	21	10	method	method	NOUN
ajst-4781	21	11	to	to	PART
ajst-4781	21	12	sample	sample	VERB
ajst-4781	21	13	the	the	DET
ajst-4781	21	14	velocity	velocity	NOUN
ajst-4781	21	15	space	space	NOUN
ajst-4781	21	16	to	to	PART
ajst-4781	21	17	simulate	simulate	VERB
ajst-4781	21	18	the	the	DET
ajst-4781	21	19	trajectory	trajectory	NOUN
ajst-4781	21	20	of	of	ADP
ajst-4781	21	21	a	a	DET
ajst-4781	21	22	period	period	NOUN
ajst-4781	21	23	,	,	PUNCT
ajst-4781	21	24	based	base	VERB
ajst-4781	21	25	on	on	ADP
ajst-4781	21	26	the	the	DET
ajst-4781	21	27	obstacle	obstacle	NOUN
ajst-4781	21	28	distance	distance	NOUN
ajst-4781	21	29	,	,	PUNCT
ajst-4781	21	30	azimuth	azimuth	ADV
ajst-4781	21	31	,	,	PUNCT
ajst-4781	21	32	and	and	CCONJ
ajst-4781	21	33	velocity	velocity	NOUN
ajst-4781	21	34	.	.	PUNCT
ajst-4781	22	1	the	the	DET
ajst-4781	22	2	evaluation	evaluation	NOUN
ajst-4781	22	3	function	function	NOUN
ajst-4781	22	4	selects	select	VERB
ajst-4781	22	5	the	the	DET
ajst-4781	22	6	speed	speed	NOUN
ajst-4781	22	7	corresponding	correspond	VERB
ajst-4781	22	8	to	to	ADP
ajst-4781	22	9	an	an	DET
ajst-4781	22	10	optimal	optimal	ADJ
ajst-4781	22	11	trajectory	trajectory	NOUN
ajst-4781	22	12	.	.	PUNCT
ajst-4781	23	1	the	the	DET
ajst-4781	23	2	literature	literature	NOUN
ajst-4781	23	3	[	[	X
ajst-4781	23	4	7	7	X
ajst-4781	23	5	]	]	PUNCT
ajst-4781	23	6	established	establish	VERB
ajst-4781	23	7	an	an	DET
ajst-4781	23	8	avoidance	avoidance	NOUN
ajst-4781	23	9	knowledge	knowledge	NOUN
ajst-4781	23	10	base	base	NOUN
ajst-4781	23	11	,	,	PUNCT
ajst-4781	23	12	the	the	DET
ajst-4781	23	13	factors	factor	NOUN
ajst-4781	23	14	that	that	PRON
ajst-4781	23	15	affect	affect	VERB
ajst-4781	23	16	the	the	DET
ajst-4781	23	17	navigation	navigation	NOUN
ajst-4781	23	18	safety	safety	NOUN
ajst-4781	23	19	of	of	ADP
ajst-4781	23	20	the	the	DET
ajst-4781	23	21	usv	usv	ADJ
ajst-4781	23	22	are	be	AUX
ajst-4781	23	23	decomposed	decompose	VERB
ajst-4781	23	24	and	and	CCONJ
ajst-4781	23	25	refined	refine	VERB
ajst-4781	23	26	,	,	PUNCT
ajst-4781	23	27	and	and	CCONJ
ajst-4781	23	28	the	the	DET
ajst-4781	23	29	obstacles	obstacle	NOUN
ajst-4781	23	30	avoidance	avoidance	NOUN
ajst-4781	23	31	of	of	ADP
ajst-4781	23	32	the	the	DET
ajst-4781	23	33	usv	usv	ADJ
ajst-4781	23	34	in	in	ADP
ajst-4781	23	35	complex	complex	ADJ
ajst-4781	23	36	water	water	NOUN
ajst-4781	23	37	environment	environment	NOUN
ajst-4781	23	38	are	be	AUX
ajst-4781	23	39	improved	improve	VERB
ajst-4781	23	40	.	.	PUNCT
ajst-4781	24	1	the	the	DET
ajst-4781	24	2	literature	literature	NOUN
ajst-4781	24	3	[	[	X
ajst-4781	24	4	8	8	NUM
ajst-4781	24	5	]	]	PUNCT
ajst-4781	24	6	proposes	propose	VERB
ajst-4781	24	7	an	an	DET
ajst-4781	24	8	improved	improved	ADJ
ajst-4781	24	9	heuristic	heuristic	ADJ
ajst-4781	24	10	function	function	NOUN
ajst-4781	24	11	,	,	PUNCT
ajst-4781	24	12	which	which	PRON
ajst-4781	24	13	improves	improve	VERB
ajst-4781	24	14	the	the	DET
ajst-4781	24	15	optimization	optimization	NOUN
ajst-4781	24	16	of	of	ADP
ajst-4781	24	17	the	the	DET
ajst-4781	24	18	traditional	traditional	ADJ
ajst-4781	24	19	a	a	PRON
ajst-4781	24	20	*	*	X
ajst-4781	24	21	star	star	NOUN
ajst-4781	24	22	algorithm	algorithm	NOUN
ajst-4781	24	23	in	in	ADP
ajst-4781	24	24	global	global	ADJ
ajst-4781	24	25	path	path	NOUN
ajst-4781	24	26	planning	planning	NOUN
ajst-4781	24	27	.	.	PUNCT
ajst-4781	25	1	the	the	DET
ajst-4781	25	2	literature	literature	NOUN
ajst-4781	25	3	[	[	X
ajst-4781	25	4	9	9	NUM
ajst-4781	25	5	]	]	PUNCT
ajst-4781	25	6	proposed	propose	VERB
ajst-4781	25	7	a	a	DET
ajst-4781	25	8	realtime	realtime	ADJ
ajst-4781	25	9	path	path	NOUN
ajst-4781	25	10	that	that	PRON
ajst-4781	25	11	combines	combine	VERB
ajst-4781	25	12	a	a	DET
ajst-4781	25	13	global	global	ADJ
ajst-4781	25	14	improved	improve	VERB
ajst-4781	25	15	a	a	DET
ajst-4781	25	16	*	*	ADJ
ajst-4781	25	17	algorithm	algorithm	NOUN
ajst-4781	25	18	that	that	PRON
ajst-4781	25	19	considers	consider	VERB
ajst-4781	25	20	factors	factor	NOUN
ajst-4781	25	21	such	such	ADJ
ajst-4781	25	22	as	as	ADP
ajst-4781	25	23	actual	actual	ADJ
ajst-4781	25	24	road	road	NOUN
ajst-4781	25	25	conditions	condition	NOUN
ajst-4781	25	26	and	and	CCONJ
ajst-4781	25	27	local	local	ADJ
ajst-4781	25	28	collision	collision	NOUN
ajst-4781	25	29	avoidance	avoidance	NOUN
ajst-4781	25	30	with	with	ADP
ajst-4781	25	31	adaptive	adaptive	ADJ
ajst-4781	25	32	obstacle	obstacle	NOUN
ajst-4781	25	33	distance	distance	NOUN
ajst-4781	25	34	,	,	PUNCT
ajst-4781	25	35	and	and	CCONJ
ajst-4781	25	36	the	the	DET
ajst-4781	25	37	planning	planning	NOUN
ajst-4781	25	38	method	method	NOUN
ajst-4781	25	39	improves	improve	VERB
ajst-4781	25	40	the	the	DET
ajst-4781	25	41	smoothness	smoothness	NOUN
ajst-4781	25	42	of	of	ADP
ajst-4781	25	43	the	the	DET
ajst-4781	25	44	global	global	ADJ
ajst-4781	25	45	path	path	NOUN
ajst-4781	25	46	and	and	CCONJ
ajst-4781	25	47	the	the	DET
ajst-4781	25	48	time	time	NOUN
ajst-4781	25	49	of	of	ADP
ajst-4781	25	50	local	local	ADJ
ajst-4781	25	51	obstacle	obstacle	NOUN
ajst-4781	25	52	avoidance	avoidance	NOUN
ajst-4781	25	53	.	.	PUNCT
ajst-4781	26	1	in	in	ADP
ajst-4781	26	2	the	the	DET
ajst-4781	26	3	above	above	ADJ
ajst-4781	26	4	studies	study	NOUN
ajst-4781	26	5	,	,	PUNCT
ajst-4781	26	6	the	the	DET
ajst-4781	26	7	output	output	NOUN
ajst-4781	26	8	of	of	ADP
ajst-4781	26	9	the	the	DET
ajst-4781	26	10	usv	usv	ADJ
ajst-4781	26	11	obstacle	obstacle	NOUN
ajst-4781	26	12	avoidance	avoidance	NOUN
ajst-4781	26	13	algorithm	algorithm	NOUN
ajst-4781	26	14	in	in	ADP
ajst-4781	26	15	the	the	DET
ajst-4781	26	16	literatures	literature	NOUN
ajst-4781	26	17	[	[	X
ajst-4781	26	18	1	1	NUM
ajst-4781	26	19	-	-	SYM
ajst-4781	26	20	4	4	NUM
ajst-4781	26	21	]	]	PUNCT
ajst-4781	26	22	is	be	AUX
ajst-4781	26	23	the	the	DET
ajst-4781	26	24	expected	expect	VERB
ajst-4781	26	25	heading	heading	NOUN
ajst-4781	26	26	,	,	PUNCT
ajst-4781	26	27	which	which	PRON
ajst-4781	26	28	is	be	AUX
ajst-4781	26	29	a	a	DET
ajst-4781	26	30	reactive	reactive	ADJ
ajst-4781	26	31	collision	collision	NOUN
ajst-4781	26	32	avoidance	avoidance	NOUN
ajst-4781	26	33	method	method	NOUN
ajst-4781	26	34	and	and	CCONJ
ajst-4781	26	35	is	be	AUX
ajst-4781	26	36	the	the	DET
ajst-4781	26	37	optimal	optimal	ADJ
ajst-4781	26	38	judgment	judgment	NOUN
ajst-4781	26	39	for	for	ADP
ajst-4781	26	40	collision	collision	NOUN
ajst-4781	26	41	avoidance	avoidance	NOUN
ajst-4781	26	42	at	at	ADP
ajst-4781	26	43	the	the	DET
ajst-4781	26	44	current	current	ADJ
ajst-4781	26	45	moment	moment	NOUN
ajst-4781	26	46	,	,	PUNCT
ajst-4781	26	47	and	and	CCONJ
ajst-4781	26	48	its	its	PRON
ajst-4781	26	49	trajectory	trajectory	NOUN
ajst-4781	26	50	optimization	optimization	NOUN
ajst-4781	26	51	is	be	AUX
ajst-4781	26	52	difficult	difficult	ADJ
ajst-4781	26	53	to	to	PART
ajst-4781	26	54	guarantee	guarantee	VERB
ajst-4781	26	55	.	.	PUNCT
ajst-4781	27	1	the	the	DET
ajst-4781	27	2	literatures	literature	NOUN
ajst-4781	27	3	[	[	X
ajst-4781	27	4	5	5	NUM
ajst-4781	27	5	-	-	SYM
ajst-4781	27	6	8	8	NUM
ajst-4781	27	7	]	]	PUNCT
ajst-4781	27	8	only	only	ADV
ajst-4781	27	9	considers	consider	VERB
ajst-4781	27	10	simulation	simulation	NOUN
ajst-4781	27	11	verification	verification	NOUN
ajst-4781	27	12	in	in	ADP
ajst-4781	27	13	simple	simple	ADJ
ajst-4781	27	14	scenarios	scenario	NOUN
ajst-4781	27	15	,	,	PUNCT
ajst-4781	27	16	ignoring	ignore	VERB
ajst-4781	27	17	the	the	DET
ajst-4781	27	18	shape	shape	NOUN
ajst-4781	27	19	and	and	CCONJ
ajst-4781	27	20	size	size	NOUN
ajst-4781	27	21	of	of	ADP
ajst-4781	27	22	the	the	DET
ajst-4781	27	23	usv	usv	ADJ
ajst-4781	27	24	and	and	CCONJ
ajst-4781	27	25	obstacles	obstacle	NOUN
ajst-4781	27	26	,	,	PUNCT
ajst-4781	27	27	and	and	CCONJ
ajst-4781	27	28	the	the	DET
ajst-4781	27	29	actual	actual	ADJ
ajst-4781	27	30	reliability	reliability	NOUN
ajst-4781	27	31	is	be	AUX
ajst-4781	27	32	difficult	difficult	ADJ
ajst-4781	27	33	to	to	PART
ajst-4781	27	34	guarantee	guarantee	VERB
ajst-4781	27	35	.	.	PUNCT
ajst-4781	28	1	this	this	DET
ajst-4781	28	2	study	study	NOUN
ajst-4781	28	3	comprehensively	comprehensively	ADV
ajst-4781	28	4	considers	consider	VERB
ajst-4781	28	5	the	the	DET
ajst-4781	28	6	navigation	navigation	NOUN
ajst-4781	28	7	safety	safety	NOUN
ajst-4781	28	8	and	and	CCONJ
ajst-4781	28	9	track	track	VERB
ajst-4781	28	10	optimization	optimization	NOUN
ajst-4781	28	11	of	of	ADP
ajst-4781	28	12	the	the	DET
ajst-4781	28	13	usv	usv	ADJ
ajst-4781	28	14	,	,	PUNCT
ajst-4781	28	15	and	and	CCONJ
ajst-4781	28	16	an	an	DET
ajst-4781	28	17	optimal	optimal	ADJ
ajst-4781	28	18	path	path	NOUN
ajst-4781	28	19	under	under	ADP
ajst-4781	28	20	the	the	DET
ajst-4781	28	21	constraints	constraint	NOUN
ajst-4781	28	22	of	of	ADP
ajst-4781	28	23	local	local	ADJ
ajst-4781	28	24	path	path	NOUN
ajst-4781	28	25	length	length	NOUN
ajst-4781	28	26	and	and	CCONJ
ajst-4781	28	27	smoothness	smoothness	NOUN
ajst-4781	28	28	is	be	AUX
ajst-4781	28	29	screened	screen	VERB
ajst-4781	28	30	out	out	ADP
ajst-4781	28	31	by	by	ADP
ajst-4781	28	32	improving	improve	VERB
ajst-4781	28	33	the	the	DET
ajst-4781	28	34	b	b	PROPN
ajst-4781	28	35	-	-	PUNCT
ajst-4781	28	36	spline	spline	NOUN
ajst-4781	28	37	curve	curve	NOUN
ajst-4781	28	38	method	method	NOUN
ajst-4781	28	39	,	,	PUNCT
ajst-4781	28	40	which	which	PRON
ajst-4781	28	41	improves	improve	VERB
ajst-4781	28	42	the	the	DET
ajst-4781	28	43	navigation	navigation	NOUN
ajst-4781	28	44	safety	safety	NOUN
ajst-4781	28	45	and	and	CCONJ
ajst-4781	28	46	reliability	reliability	NOUN
ajst-4781	28	47	of	of	ADP
ajst-4781	28	48	the	the	DET
ajst-4781	28	49	usv	usv	ADJ
ajst-4781	28	50	.	.	PROPN
ajst-4781	29	1	2	2	X
ajst-4781	29	2	.	.	X
ajst-4781	29	3	millimeter	millimeter	NOUN
ajst-4781	29	4	wave	wave	PROPN
ajst-4781	29	5	radar	radar	NOUN
ajst-4781	29	6	obstacle	obstacle	NOUN
ajst-4781	29	7	detection	detection	NOUN
ajst-4781	29	8	for	for	ADP
ajst-4781	29	9	the	the	DET
ajst-4781	29	10	usv	usv	ADJ
ajst-4781	29	11	,	,	PUNCT
ajst-4781	29	12	commonly	commonly	ADV
ajst-4781	29	13	used	use	VERB
ajst-4781	29	14	sensors	sensor	NOUN
ajst-4781	29	15	for	for	ADP
ajst-4781	29	16	surface	surface	NOUN
ajst-4781	29	17	obstacle	obstacle	NOUN
ajst-4781	29	18	detection	detection	NOUN
ajst-4781	29	19	include	include	VERB
ajst-4781	29	20	lidar	lidar	NOUN
ajst-4781	29	21	,	,	PUNCT
ajst-4781	29	22	millimeter	millimeter	NOUN
ajst-4781	29	23	wave	wave	NOUN
ajst-4781	29	24	radar	radar	NOUN
ajst-4781	29	25	,	,	PUNCT
ajst-4781	29	26	and	and	CCONJ
ajst-4781	29	27	visual	visual	ADJ
ajst-4781	29	28	cameras	camera	NOUN
ajst-4781	29	29	.	.	PUNCT
ajst-4781	30	1	in	in	ADP
ajst-4781	30	2	the	the	DET
ajst-4781	30	3	study	study	NOUN
ajst-4781	30	4	of	of	ADP
ajst-4781	30	5	l1	l1	PROPN
ajst-4781	30	6	-	-	PUNCT
ajst-4781	30	7	level	level	NOUN
ajst-4781	30	8	single	single	ADJ
ajst-4781	30	9	-	-	PUNCT
ajst-4781	30	10	sensor	sensor	NOUN
ajst-4781	30	11	obstacle	obstacle	NOUN
ajst-4781	30	12	avoidance	avoidance	NOUN
ajst-4781	30	13	algorithm	algorithm	NOUN
ajst-4781	30	14	,	,	PUNCT
ajst-4781	30	15	the	the	DET
ajst-4781	30	16	millimeter	millimeter	NOUN
ajst-4781	30	17	wave	wave	NOUN
ajst-4781	30	18	radar	radar	NOUN
ajst-4781	30	19	is	be	AUX
ajst-4781	30	20	the	the	DET
ajst-4781	30	21	most	most	ADV
ajst-4781	30	22	cost	cost	NOUN
ajst-4781	30	23	-	-	PUNCT
ajst-4781	30	24	effective	effective	ADJ
ajst-4781	30	25	after	after	ADP
ajst-4781	30	26	considering	consider	VERB
ajst-4781	30	27	comprehensive	comprehensive	ADJ
ajst-4781	30	28	factors	factor	NOUN
ajst-4781	30	29	such	such	ADJ
ajst-4781	30	30	as	as	ADP
ajst-4781	30	31	application	application	NOUN
ajst-4781	30	32	scenarios	scenario	NOUN
ajst-4781	30	33	and	and	CCONJ
ajst-4781	30	34	costs	cost	NOUN
ajst-4781	30	35	.	.	PUNCT
ajst-4781	31	1	the	the	DET
ajst-4781	31	2	working	work	VERB
ajst-4781	31	3	band	band	NOUN
ajst-4781	31	4	of	of	ADP
ajst-4781	31	5	the	the	DET
ajst-4781	31	6	millimeter	millimeter	NOUN
ajst-4781	31	7	wave	wave	NOUN
ajst-4781	31	8	radar	radar	NOUN
ajst-4781	31	9	is	be	AUX
ajst-4781	31	10	the	the	DET
ajst-4781	31	11	millimeter	millimeter	NOUN
ajst-4781	31	12	wave	wave	NOUN
ajst-4781	31	13	band	band	NOUN
ajst-4781	31	14	,	,	PUNCT
ajst-4781	31	15	which	which	PRON
ajst-4781	31	16	has	have	VERB
ajst-4781	31	17	the	the	DET
ajst-4781	31	18	advantages	advantage	NOUN
ajst-4781	31	19	of	of	ADP
ajst-4781	31	20	microwave	microwave	NOUN
ajst-4781	31	21	guidance	guidance	NOUN
ajst-4781	31	22	and	and	CCONJ
ajst-4781	31	23	light	light	ADJ
ajst-4781	31	24	wave	wave	NOUN
ajst-4781	31	25	guidance	guidance	NOUN
ajst-4781	31	26	.	.	PUNCT
ajst-4781	32	1	during	during	ADP
ajst-4781	32	2	the	the	DET
ajst-4781	32	3	working	working	NOUN
ajst-4781	32	4	process	process	NOUN
ajst-4781	32	5	,	,	PUNCT
ajst-4781	32	6	it	it	PRON
ajst-4781	32	7	can	can	AUX
ajst-4781	32	8	detect	detect	VERB
ajst-4781	32	9	the	the	DET
ajst-4781	32	10	distance	distance	NOUN
ajst-4781	32	11	,	,	PUNCT
ajst-4781	32	12	speed	speed	NOUN
ajst-4781	32	13	,	,	PUNCT
ajst-4781	32	14	angle	angle	NOUN
ajst-4781	32	15	,	,	PUNCT
ajst-4781	32	16	and	and	CCONJ
ajst-4781	32	17	other	other	ADJ
ajst-4781	32	18	information	information	NOUN
ajst-4781	32	19	of	of	ADP
ajst-4781	32	20	multiple	multiple	ADJ
ajst-4781	32	21	obstacles	obstacle	NOUN
ajst-4781	32	22	at	at	ADP
ajst-4781	32	23	the	the	DET
ajst-4781	32	24	same	same	ADJ
ajst-4781	32	25	time	time	NOUN
ajst-4781	32	26	.	.	PUNCT
ajst-4781	33	1	the	the	DET
ajst-4781	33	2	31	31	NUM
ajst-4781	33	3	detection	detection	NOUN
ajst-4781	33	4	results	result	NOUN
ajst-4781	33	5	are	be	AUX
ajst-4781	33	6	often	often	ADV
ajst-4781	33	7	mixed	mix	VERB
ajst-4781	33	8	with	with	ADP
ajst-4781	33	9	invalid	invalid	ADJ
ajst-4781	33	10	targets	target	NOUN
ajst-4781	33	11	limited	limit	VERB
ajst-4781	33	12	by	by	ADP
ajst-4781	33	13	the	the	DET
ajst-4781	33	14	instability	instability	NOUN
ajst-4781	33	15	of	of	ADP
ajst-4781	33	16	radar	radar	NOUN
ajst-4781	33	17	work	work	NOUN
ajst-4781	33	18	,	,	PUNCT
ajst-4781	33	19	the	the	DET
ajst-4781	33	20	interference	interference	NOUN
ajst-4781	33	21	of	of	ADP
ajst-4781	33	22	metal	metal	NOUN
ajst-4781	33	23	obstacles	obstacle	NOUN
ajst-4781	33	24	,	,	PUNCT
ajst-4781	33	25	the	the	DET
ajst-4781	33	26	unevenness	unevenness	NOUN
ajst-4781	33	27	of	of	ADP
ajst-4781	33	28	echo	echo	NOUN
ajst-4781	33	29	energy	energy	NOUN
ajst-4781	33	30	and	and	CCONJ
ajst-4781	33	31	other	other	ADJ
ajst-4781	33	32	factors	factor	NOUN
ajst-4781	33	33	[	[	X
ajst-4781	33	34	10	10	NUM
ajst-4781	33	35	]	]	PUNCT
ajst-4781	33	36	.	.	PUNCT
ajst-4781	34	1	to	to	PART
ajst-4781	34	2	improve	improve	VERB
ajst-4781	34	3	the	the	DET
ajst-4781	34	4	safety	safety	NOUN
ajst-4781	34	5	and	and	CCONJ
ajst-4781	34	6	reliability	reliability	NOUN
ajst-4781	34	7	of	of	ADP
ajst-4781	34	8	the	the	DET
ajst-4781	34	9	usv	usv	ADJ
ajst-4781	34	10	collision	collision	NOUN
ajst-4781	34	11	avoidance	avoidance	NOUN
ajst-4781	34	12	experiment	experiment	NOUN
ajst-4781	34	13	,	,	PUNCT
ajst-4781	34	14	the	the	DET
ajst-4781	34	15	effectiveness	effectiveness	NOUN
ajst-4781	34	16	of	of	ADP
ajst-4781	34	17	radar	radar	NOUN
ajst-4781	34	18	detection	detection	NOUN
ajst-4781	34	19	targets	target	NOUN
ajst-4781	34	20	is	be	AUX
ajst-4781	34	21	an	an	DET
ajst-4781	34	22	important	important	ADJ
ajst-4781	34	23	prerequisite	prerequisite	NOUN
ajst-4781	34	24	.	.	PUNCT
ajst-4781	35	1	facing	face	VERB
ajst-4781	35	2	the	the	DET
ajst-4781	35	3	complex	complex	ADJ
ajst-4781	35	4	water	water	NOUN
ajst-4781	35	5	environment	environment	NOUN
ajst-4781	35	6	,	,	PUNCT
ajst-4781	35	7	invalid	invalid	ADJ
ajst-4781	35	8	targets	target	NOUN
ajst-4781	35	9	are	be	AUX
ajst-4781	35	10	mainly	mainly	ADV
ajst-4781	35	11	noise	noise	NOUN
ajst-4781	35	12	points	point	NOUN
ajst-4781	35	13	such	such	ADJ
ajst-4781	35	14	as	as	ADP
ajst-4781	35	15	water	water	NOUN
ajst-4781	35	16	wave	wave	NOUN
ajst-4781	35	17	reflection	reflection	NOUN
ajst-4781	35	18	,	,	PUNCT
ajst-4781	35	19	but	but	CCONJ
ajst-4781	35	20	its	its	PRON
ajst-4781	35	21	duration	duration	NOUN
ajst-4781	35	22	is	be	AUX
ajst-4781	35	23	very	very	ADV
ajst-4781	35	24	short	short	ADJ
ajst-4781	35	25	.	.	PUNCT
ajst-4781	36	1	by	by	ADP
ajst-4781	36	2	filtering	filter	VERB
ajst-4781	36	3	the	the	DET
ajst-4781	36	4	life	life	NOUN
ajst-4781	36	5	cycle	cycle	NOUN
ajst-4781	36	6	of	of	ADP
ajst-4781	36	7	the	the	DET
ajst-4781	36	8	target	target	NOUN
ajst-4781	36	9	,	,	PUNCT
ajst-4781	36	10	the	the	DET
ajst-4781	36	11	noise	noise	NOUN
ajst-4781	36	12	on	on	ADP
ajst-4781	36	13	the	the	DET
ajst-4781	36	14	water	water	NOUN
ajst-4781	36	15	surface	surface	NOUN
ajst-4781	36	16	can	can	AUX
ajst-4781	36	17	be	be	AUX
ajst-4781	36	18	suppressed	suppress	VERB
ajst-4781	36	19	,	,	PUNCT
ajst-4781	36	20	the	the	DET
ajst-4781	36	21	credibility	credibility	NOUN
ajst-4781	36	22	of	of	ADP
ajst-4781	36	23	the	the	DET
ajst-4781	36	24	target	target	NOUN
ajst-4781	36	25	obstacle	obstacle	NOUN
ajst-4781	36	26	can	can	AUX
ajst-4781	36	27	be	be	AUX
ajst-4781	36	28	improved	improve	VERB
ajst-4781	36	29	,	,	PUNCT
ajst-4781	36	30	and	and	CCONJ
ajst-4781	36	31	stable	stable	ADJ
ajst-4781	36	32	and	and	CCONJ
ajst-4781	36	33	reliable	reliable	ADJ
ajst-4781	36	34	obstacle	obstacle	NOUN
ajst-4781	36	35	information	information	NOUN
ajst-4781	36	36	can	can	AUX
ajst-4781	36	37	be	be	AUX
ajst-4781	36	38	output	output	VERB
ajst-4781	36	39	.	.	PUNCT
ajst-4781	37	1	the	the	DET
ajst-4781	37	2	effects	effect	NOUN
ajst-4781	37	3	before	before	ADV
ajst-4781	37	4	and	and	CCONJ
ajst-4781	37	5	after	after	ADP
ajst-4781	37	6	filtering	filter	VERB
ajst-4781	37	7	of	of	ADP
ajst-4781	37	8	targets	target	NOUN
ajst-4781	37	9	with	with	ADP
ajst-4781	37	10	a	a	DET
ajst-4781	37	11	radar	radar	NOUN
ajst-4781	37	12	detection	detection	NOUN
ajst-4781	37	13	lifetime	lifetime	NOUN
ajst-4781	37	14	longer	long	ADV
ajst-4781	37	15	than	than	SCONJ
ajst-4781	37	16	one	one	NUM
ajst-4781	37	17	second	second	NOUN
ajst-4781	37	18	are	be	AUX
ajst-4781	37	19	shown	show	VERB
ajst-4781	37	20	as	as	ADP
ajst-4781	37	21	figure	figure	NOUN
ajst-4781	37	22	1	1	NUM
ajst-4781	37	23	and	and	CCONJ
ajst-4781	37	24	figure	figure	VERB
ajst-4781	37	25	2	2	NUM
ajst-4781	37	26	.	.	PUNCT
ajst-4781	37	27	figure	figure	NOUN
ajst-4781	37	28	1	1	NUM
ajst-4781	37	29	.	.	PUNCT
ajst-4781	37	30	before	before	ADP
ajst-4781	37	31	filtering	filter	VERB
ajst-4781	37	32	.	.	PUNCT
ajst-4781	38	1	figure	figure	NOUN
ajst-4781	38	2	2	2	NUM
ajst-4781	38	3	.	.	PUNCT
ajst-4781	39	1	after	after	ADP
ajst-4781	39	2	filtering	filter	VERB
ajst-4781	39	3	.	.	PUNCT
ajst-4781	40	1	3	3	X
ajst-4781	40	2	.	.	X
ajst-4781	40	3	spline	spline	PROPN
ajst-4781	40	4	local	local	ADJ
ajst-4781	40	5	path	path	NOUN
ajst-4781	40	6	planning	plan	VERB
ajst-4781	40	7	the	the	DET
ajst-4781	40	8	main	main	ADJ
ajst-4781	40	9	methods	method	NOUN
ajst-4781	40	10	of	of	ADP
ajst-4781	40	11	local	local	ADJ
ajst-4781	40	12	path	path	NOUN
ajst-4781	40	13	planning	planning	NOUN
ajst-4781	40	14	for	for	ADP
ajst-4781	40	15	the	the	DET
ajst-4781	40	16	usv	usv	ADJ
ajst-4781	40	17	include	include	VERB
ajst-4781	40	18	apf	apf	PROPN
ajst-4781	40	19	(	(	PUNCT
ajst-4781	40	20	artificial	artificial	ADJ
ajst-4781	40	21	potential	potential	ADJ
ajst-4781	40	22	field	field	NOUN
ajst-4781	40	23	)	)	PUNCT
ajst-4781	40	24	,	,	PUNCT
ajst-4781	40	25	bezier	bezier	NOUN
ajst-4781	40	26	curve	curve	NOUN
ajst-4781	40	27	and	and	CCONJ
ajst-4781	40	28	bspline	bspline	NOUN
ajst-4781	40	29	curve	curve	NOUN
ajst-4781	40	30	,	,	PUNCT
ajst-4781	40	31	but	but	CCONJ
ajst-4781	40	32	the	the	DET
ajst-4781	40	33	apf	apf	PROPN
ajst-4781	40	34	has	have	VERB
ajst-4781	40	35	problems	problem	NOUN
ajst-4781	40	36	of	of	ADP
ajst-4781	40	37	local	local	ADJ
ajst-4781	40	38	optimum	optimum	ADJ
ajst-4781	40	39	and	and	CCONJ
ajst-4781	40	40	unreachable	unreachable	ADJ
ajst-4781	40	41	targets	target	NOUN
ajst-4781	40	42	,	,	PUNCT
ajst-4781	40	43	and	and	CCONJ
ajst-4781	40	44	its	its	PRON
ajst-4781	40	45	track	track	NOUN
ajst-4781	40	46	optimization	optimization	NOUN
ajst-4781	40	47	is	be	AUX
ajst-4781	40	48	difficult	difficult	ADJ
ajst-4781	40	49	to	to	PART
ajst-4781	40	50	guarantee	guarantee	VERB
ajst-4781	40	51	.	.	PUNCT
ajst-4781	41	1	in	in	ADP
ajst-4781	41	2	the	the	DET
ajst-4781	41	3	bezier	bezier	PROPN
ajst-4781	41	4	curve	curve	NOUN
ajst-4781	41	5	method	method	NOUN
ajst-4781	41	6	,	,	PUNCT
ajst-4781	41	7	the	the	DET
ajst-4781	41	8	derivative	derivative	ADJ
ajst-4781	41	9	degree	degree	NOUN
ajst-4781	41	10	of	of	ADP
ajst-4781	41	11	the	the	DET
ajst-4781	41	12	curve	curve	NOUN
ajst-4781	41	13	will	will	AUX
ajst-4781	41	14	also	also	ADV
ajst-4781	41	15	be	be	AUX
ajst-4781	41	16	high	high	ADJ
ajst-4781	41	17	when	when	SCONJ
ajst-4781	41	18	the	the	DET
ajst-4781	41	19	curve	curve	NOUN
ajst-4781	41	20	degree	degree	NOUN
ajst-4781	41	21	is	be	AUX
ajst-4781	41	22	high	high	ADJ
ajst-4781	41	23	,	,	PUNCT
ajst-4781	41	24	so	so	CCONJ
ajst-4781	41	25	the	the	DET
ajst-4781	41	26	curve	curve	NOUN
ajst-4781	41	27	will	will	AUX
ajst-4781	41	28	have	have	VERB
ajst-4781	41	29	more	more	ADJ
ajst-4781	41	30	peaks	peak	NOUN
ajst-4781	41	31	and	and	CCONJ
ajst-4781	41	32	valleys	valley	NOUN
ajst-4781	41	33	,	,	PUNCT
ajst-4781	41	34	and	and	CCONJ
ajst-4781	41	35	once	once	ADV
ajst-4781	41	36	the	the	DET
ajst-4781	41	37	number	number	NOUN
ajst-4781	41	38	of	of	ADP
ajst-4781	41	39	control	control	NOUN
ajst-4781	41	40	points	point	NOUN
ajst-4781	41	41	is	be	AUX
ajst-4781	41	42	determined	determine	VERB
ajst-4781	41	43	,	,	PUNCT
ajst-4781	41	44	it	it	PRON
ajst-4781	41	45	can	can	AUX
ajst-4781	41	46	not	not	PART
ajst-4781	41	47	be	be	AUX
ajst-4781	41	48	locally	locally	ADV
ajst-4781	41	49	modified	modify	VERB
ajst-4781	41	50	.	.	PUNCT
ajst-4781	42	1	however	however	ADV
ajst-4781	42	2	,	,	PUNCT
ajst-4781	42	3	the	the	DET
ajst-4781	42	4	b	b	NOUN
ajst-4781	42	5	-	-	PUNCT
ajst-4781	42	6	spline	spline	NOUN
ajst-4781	42	7	curve	curve	NOUN
ajst-4781	42	8	can	can	AUX
ajst-4781	42	9	make	make	VERB
ajst-4781	42	10	up	up	ADP
ajst-4781	42	11	for	for	ADP
ajst-4781	42	12	the	the	DET
ajst-4781	42	13	defects	defect	NOUN
ajst-4781	42	14	of	of	ADP
ajst-4781	42	15	the	the	DET
ajst-4781	42	16	above	above	ADJ
ajst-4781	42	17	two	two	NUM
ajst-4781	42	18	methods	method	NOUN
ajst-4781	42	19	.	.	PUNCT
ajst-4781	43	1	b	b	X
ajst-4781	43	2	-	-	PUNCT
ajst-4781	43	3	spline	spline	NOUN
ajst-4781	43	4	curve	curve	NOUN
ajst-4781	43	5	is	be	AUX
ajst-4781	43	6	a	a	DET
ajst-4781	43	7	linear	linear	ADJ
ajst-4781	43	8	combination	combination	NOUN
ajst-4781	43	9	of	of	ADP
ajst-4781	43	10	b	b	NOUN
ajst-4781	43	11	-	-	PUNCT
ajst-4781	43	12	spline	spline	NOUN
ajst-4781	43	13	basis	basis	NOUN
ajst-4781	43	14	functions	function	NOUN
ajst-4781	43	15	,	,	PUNCT
ajst-4781	43	16	and	and	CCONJ
ajst-4781	43	17	all	all	DET
ajst-4781	43	18	spline	spline	NOUN
ajst-4781	43	19	functions	function	NOUN
ajst-4781	43	20	on	on	ADP
ajst-4781	43	21	a	a	DET
ajst-4781	43	22	given	give	VERB
ajst-4781	43	23	interval	interval	NOUN
ajst-4781	43	24	form	form	NOUN
ajst-4781	43	25	a	a	DET
ajst-4781	43	26	linear	linear	ADJ
ajst-4781	43	27	space	space	NOUN
ajst-4781	43	28	.	.	PUNCT
ajst-4781	44	1	there	there	PRON
ajst-4781	44	2	is	be	VERB
ajst-4781	44	3	a	a	DET
ajst-4781	44	4	total	total	NOUN
ajst-4781	44	5	of	of	ADP
ajst-4781	44	6	1n	1n	NUM
ajst-4781	44	7	control	control	NOUN
ajst-4781	44	8	points	point	NOUN
ajst-4781	44	9	including	include	VERB
ajst-4781	44	10	0	0	NUM
ajst-4781	44	11	1	1	NUM
ajst-4781	44	12	2	2	NUM
ajst-4781	44	13	n	n	CCONJ
ajst-4781	44	14	,	,	PUNCT
ajst-4781	44	15	,	,	PUNCT
ajst-4781	44	16	,	,	PUNCT
ajst-4781	44	17	,	,	PUNCT
ajst-4781	44	18	d	d	PROPN
ajst-4781	44	19	d	d	PROPN
ajst-4781	44	20	d	d	X
ajst-4781	44	21	d	d	PROPN
ajst-4781	44	22			PROPN
ajst-4781	44	23			PROPN
ajst-4781	44	24	,	,	PUNCT
ajst-4781	44	25	and	and	CCONJ
ajst-4781	44	26	these	these	DET
ajst-4781	44	27	control	control	NOUN
ajst-4781	44	28	points	point	NOUN
ajst-4781	44	29	are	be	AUX
ajst-4781	44	30	used	use	VERB
ajst-4781	44	31	to	to	PART
ajst-4781	44	32	define	define	VERB
ajst-4781	44	33	the	the	DET
ajst-4781	44	34	trend	trend	NOUN
ajst-4781	44	35	and	and	CCONJ
ajst-4781	44	36	boundary	boundary	ADJ
ajst-4781	44	37	range	range	NOUN
ajst-4781	44	38	of	of	ADP
ajst-4781	44	39	the	the	DET
ajst-4781	44	40	spline	spline	NOUN
ajst-4781	44	41	curve	curve	NOUN
ajst-4781	44	42	,	,	PUNCT
ajst-4781	44	43	then	then	ADV
ajst-4781	44	44	the	the	DET
ajst-4781	44	45	definition	definition	NOUN
ajst-4781	44	46	of	of	ADP
ajst-4781	44	47	the	the	DET
ajst-4781	44	48	k	k	PROPN
ajst-4781	44	49	order	order	NOUN
ajst-4781	44	50	b	b	X
ajst-4781	44	51	-	-	PUNCT
ajst-4781	44	52	spline	spline	NOUN
ajst-4781	44	53	curve	curve	NOUN
ajst-4781	44	54	is	be	AUX
ajst-4781	44	55	:	:	PUNCT
ajst-4781	44	56			NOUN
ajst-4781	44	57			PROPN
ajst-4781	44	58	0,k	0,k	NUM
ajst-4781	45	1	1,k	1,k	PROPN
ajst-4781	45	2	0	0	NUM
ajst-4781	45	3	1	1	NUM
ajst-4781	45	4	n	n	NOUN
ajst-4781	46	1	i	i	PRON
ajst-4781	46	2	i	i	PRON
ajst-4781	46	3	,	,	PUNCT
ajst-4781	46	4	k	k	PROPN
ajst-4781	46	5	0	0	NUM
ajst-4781	46	6	n	n	CCONJ
ajst-4781	46	7	,	,	PUNCT
ajst-4781	46	8	k	k	X
ajst-4781	46	9	(	(	PUNCT
ajst-4781	46	10	)	)	PUNCT
ajst-4781	46	11	(	(	PUNCT
ajst-4781	46	12	)	)	PUNCT
ajst-4781	46	13	(	(	PUNCT
ajst-4781	46	14	)	)	PUNCT
ajst-4781	46	15	(	(	PUNCT
ajst-4781	46	16	)	)	PUNCT
ajst-4781	46	17	(	(	PUNCT
ajst-4781	46	18	)	)	PUNCT
ajst-4781	46	19	n	n	CCONJ
ajst-4781	46	20	i	i	PRON
ajst-4781	46	21	b	b	PROPN
ajst-4781	46	22	x	x	SYM
ajst-4781	46	23	b	b	X
ajst-4781	46	24	x	x	SYM
ajst-4781	46	25	d	d	NOUN
ajst-4781	46	26	x	x	SYM
ajst-4781	46	27	d	d	PUNCT
ajst-4781	46	28	d	d	X
ajst-4781	46	29	d	d	PROPN
ajst-4781	46	30	d	d	PROPN
ajst-4781	46	31	b	b	PROPN
ajst-4781	46	32	x	x	SYM
ajst-4781	46	33	b	b	PROPN
ajst-4781	46	34	x	x	SYM
ajst-4781	46	35			NUM
ajst-4781	46	36			NOUN
ajst-4781	46	37			PROPN
ajst-4781	46	38			PROPN
ajst-4781	46	39			PROPN
ajst-4781	46	40			PROPN
ajst-4781	46	41			NOUN
ajst-4781	46	42			PUNCT
ajst-4781	46	43			PROPN
ajst-4781	46	44			PROPN
ajst-4781	47	1			NOUN
ajst-4781	47	2			PROPN
ajst-4781	48	1			ADJ
ajst-4781	48	2			NOUN
ajst-4781	48	3			NUM
ajst-4781	48	4	�	�	PROPN
ajst-4781	48	5	�	�	PROPN
ajst-4781	48	6	(	(	PUNCT
ajst-4781	48	7	1	1	NUM
ajst-4781	48	8	)	)	PUNCT
ajst-4781	48	9	in	in	ADP
ajst-4781	48	10	the	the	DET
ajst-4781	48	11	formula	formula	NOUN
ajst-4781	48	12	,	,	PUNCT
ajst-4781	48	13	i	i	PRON
ajst-4781	48	14	,	,	PUNCT
ajst-4781	48	15	k	k	PROPN
ajst-4781	48	16	(	(	PUNCT
ajst-4781	48	17	)	)	PUNCT
ajst-4781	48	18	b	b	X
ajst-4781	48	19	x	x	X
ajst-4781	48	20	is	be	AUX
ajst-4781	48	21	the	the	DET
ajst-4781	48	22	thi	thi	PROPN
ajst-4781	48	23	b	b	X
ajst-4781	48	24	-	-	PUNCT
ajst-4781	48	25	spline	spline	NOUN
ajst-4781	48	26	basis	basis	NOUN
ajst-4781	48	27	function	function	NOUN
ajst-4781	48	28	of	of	ADP
ajst-4781	48	29	order	order	NOUN
ajst-4781	48	30	k	k	X
ajst-4781	48	31	,	,	PUNCT
ajst-4781	48	32	which	which	PRON
ajst-4781	48	33	is	be	AUX
ajst-4781	48	34	corresponding	correspond	VERB
ajst-4781	48	35	to	to	ADP
ajst-4781	48	36	the	the	DET
ajst-4781	48	37	control	control	NOUN
ajst-4781	48	38	point	point	NOUN
ajst-4781	48	39	i	i	PROPN
ajst-4781	48	40	d	d	PROPN
ajst-4781	48	41	,	,	PUNCT
ajst-4781	48	42	and	and	CCONJ
ajst-4781	48	43	x	x	X
ajst-4781	48	44	is	be	AUX
ajst-4781	48	45	the	the	DET
ajst-4781	48	46	independent	independent	ADJ
ajst-4781	48	47	variable	variable	NOUN
ajst-4781	48	48	and	and	CCONJ
ajst-4781	48	49	1k	1k	NUM
ajst-4781	48	50			NUM
ajst-4781	48	51	.	.	PUNCT
ajst-4781	49	1	the	the	DET
ajst-4781	49	2	basis	basis	NOUN
ajst-4781	49	3	functions	function	NOUN
ajst-4781	49	4	have	have	VERB
ajst-4781	49	5	the	the	DET
ajst-4781	49	6	following	follow	VERB
ajst-4781	49	7	deborah	deborah	PROPN
ajst-4781	49	8	-	-	PUNCT
ajst-4781	49	9	cox	cox	PROPN
ajst-4781	49	10	recursion	recursion	NOUN
ajst-4781	49	11	:	:	PUNCT
ajst-4781	50	1	i	i	PRON
ajst-4781	50	2	i+1	i+1	VERB
ajst-4781	50	3	i	i	PRON
ajst-4781	50	4	,	,	PUNCT
ajst-4781	50	5	k	k	PROPN
ajst-4781	50	6	i	i	PRON
ajst-4781	50	7	i+k	i+k	VERB
ajst-4781	50	8	i	i	PROPN
ajst-4781	50	9	,	,	PUNCT
ajst-4781	50	10	k-1	k-1	PROPN
ajst-4781	50	11	i+1,k-1	i+1,k-1	NOUN
ajst-4781	50	12	i+k-1	i+k-1	NUM
ajst-4781	50	13	i	i	PRON
ajst-4781	50	14	i+k	i+k	NUM
ajst-4781	50	15	i+1	i+1	NUM
ajst-4781	50	16	1	1	NUM
ajst-4781	50	17	,	,	PUNCT
ajst-4781	50	18	,	,	PUNCT
ajst-4781	50	19	1	1	NUM
ajst-4781	50	20	0,others	0,other	NOUN
ajst-4781	50	21	(	(	PUNCT
ajst-4781	50	22	)	)	PUNCT
ajst-4781	50	23	(	(	PUNCT
ajst-4781	50	24	)	)	PUNCT
ajst-4781	50	25	(	(	PUNCT
ajst-4781	50	26	)	)	PUNCT
ajst-4781	50	27	,	,	PUNCT
ajst-4781	50	28	2	2	NUM
ajst-4781	50	29	x	x	SYM
ajst-4781	50	30	x	x	PUNCT
ajst-4781	50	31	x	x	PUNCT
ajst-4781	50	32	k	k	NOUN
ajst-4781	50	33	b	b	X
ajst-4781	50	34	x	x	SYM
ajst-4781	50	35	x	x	PUNCT
ajst-4781	50	36	x	x	PUNCT
ajst-4781	50	37	x	x	PUNCT
ajst-4781	50	38	x	x	SYM
ajst-4781	50	39	b	b	X
ajst-4781	50	40	x	x	SYM
ajst-4781	50	41	b	b	PROPN
ajst-4781	50	42	x	x	X
ajst-4781	50	43	k	k	NOUN
ajst-4781	50	44	x	x	PUNCT
ajst-4781	51	1	x	x	PUNCT
ajst-4781	51	2	x	x	PUNCT
ajst-4781	51	3	x	x	NOUN
ajst-4781	51	4			ADP
ajst-4781	51	5			NOUN
ajst-4781	51	6			NOUN
ajst-4781	51	7			NOUN
ajst-4781	51	8			SYM
ajst-4781	51	9			NUM
ajst-4781	51	10			NOUN
ajst-4781	51	11			PROPN
ajst-4781	51	12			PUNCT
ajst-4781	51	13			PROPN
ajst-4781	51	14			X
ajst-4781	51	15			CCONJ
ajst-4781	51	16	(	(	PUNCT
ajst-4781	51	17	2	2	X
ajst-4781	51	18	)	)	PUNCT
ajst-4781	51	19	we	we	PRON
ajst-4781	51	20	agree	agree	VERB
ajst-4781	51	21	that	that	SCONJ
ajst-4781	51	22	0	0	NUM
ajst-4781	51	23	/	/	SYM
ajst-4781	51	24	0	0	NUM
ajst-4781	51	25	0	0	PROPN
ajst-4781	51	26	,	,	PUNCT
ajst-4781	51	27	where	where	SCONJ
ajst-4781	51	28	is	be	AUX
ajst-4781	51	29	a	a	DET
ajst-4781	51	30	set	set	NOUN
ajst-4781	51	31	of	of	ADP
ajst-4781	51	32	continuously	continuously	ADV
ajst-4781	51	33	changing	change	VERB
ajst-4781	51	34	values	value	NOUN
ajst-4781	51	35	of	of	ADP
ajst-4781	51	36	a	a	DET
ajst-4781	51	37	non	non	ADJ
ajst-4781	51	38	-	-	ADJ
ajst-4781	51	39	decreasing	decrease	VERB
ajst-4781	51	40	sequence	sequence	NOUN
ajst-4781	51	41	called	call	VERB
ajst-4781	51	42	a	a	DET
ajst-4781	51	43	node	node	ADJ
ajst-4781	51	44	vector	vector	NOUN
ajst-4781	51	45	,	,	PUNCT
ajst-4781	51	46	the	the	DET
ajst-4781	51	47	first	first	ADJ
ajst-4781	51	48	and	and	CCONJ
ajst-4781	51	49	last	last	ADJ
ajst-4781	51	50	values	value	NOUN
ajst-4781	51	51	are	be	AUX
ajst-4781	51	52	generally	generally	ADV
ajst-4781	51	53	defined	define	VERB
ajst-4781	51	54	as	as	ADP
ajst-4781	51	55	0	0	NUM
ajst-4781	51	56	and	and	CCONJ
ajst-4781	51	57	1	1	NUM
ajst-4781	51	58	,	,	PUNCT
ajst-4781	51	59	and	and	CCONJ
ajst-4781	51	60	the	the	DET
ajst-4781	51	61	sequence	sequence	NOUN
ajst-4781	51	62	is	be	AUX
ajst-4781	51	63	as	as	SCONJ
ajst-4781	51	64	follows	follow	VERB
ajst-4781	51	65	:	:	PUNCT
ajst-4781	52	1			NOUN
ajst-4781	52	2	0	0	NOUN
ajst-4781	52	3	1	1	NUM
ajst-4781	52	4	k	k	NOUN
ajst-4781	52	5	k+1	k+1	PROPN
ajst-4781	52	6	n	n	PROPN
ajst-4781	52	7	n+1	n+1	PROPN
ajst-4781	52	8	n+k	n+k	NUM
ajst-4781	52	9	,	,	PUNCT
ajst-4781	52	10	,	,	PUNCT
ajst-4781	52	11	,	,	PUNCT
ajst-4781	52	12	,	,	PUNCT
ajst-4781	52	13	,	,	PUNCT
ajst-4781	52	14	,	,	PUNCT
ajst-4781	52	15	,	,	PUNCT
ajst-4781	52	16	,	,	PUNCT
ajst-4781	52	17	,	,	PUNCT
ajst-4781	52	18	x	x	PUNCT
ajst-4781	52	19	x	x	PUNCT
ajst-4781	52	20	x	x	PUNCT
ajst-4781	52	21	x	x	PUNCT
ajst-4781	52	22	x	x	SYM
ajst-4781	52	23	x	x	SYM
ajst-4781	52	24	x	x	PRON
ajst-4781	52	25	�	�	PROPN
ajst-4781	52	26	�	�	PROPN
ajst-4781	52	27	�	�	PROPN
ajst-4781	52	28	(	(	PUNCT
ajst-4781	52	29	3	3	NUM
ajst-4781	52	30	)	)	PUNCT
ajst-4781	52	31	according	accord	VERB
ajst-4781	52	32	to	to	ADP
ajst-4781	52	33	the	the	DET
ajst-4781	52	34	recursive	recursive	ADJ
ajst-4781	52	35	formula	formula	NOUN
ajst-4781	52	36	,	,	PUNCT
ajst-4781	52	37	when	when	SCONJ
ajst-4781	52	38	the	the	DET
ajst-4781	52	39	order	order	NOUN
ajst-4781	52	40	k	k	PROPN
ajst-4781	52	41	is	be	AUX
ajst-4781	52	42	1	1	NUM
ajst-4781	52	43	,	,	PUNCT
ajst-4781	52	44	the	the	DET
ajst-4781	52	45	non	non	ADJ
ajst-4781	52	46	-	-	ADJ
ajst-4781	52	47	zero	zero	NUM
ajst-4781	52	48	fields	field	NOUN
ajst-4781	52	49	of	of	ADP
ajst-4781	52	50	different	different	ADJ
ajst-4781	52	51	basis	basis	NOUN
ajst-4781	52	52	functions	function	NOUN
ajst-4781	52	53	are	be	AUX
ajst-4781	52	54	shown	show	VERB
ajst-4781	52	55	as	as	ADP
ajst-4781	52	56	figure	figure	NOUN
ajst-4781	52	57	3	3	NUM
ajst-4781	52	58	:	:	SYM
ajst-4781	52	59	32	32	NUM
ajst-4781	52	60	figure	figure	NOUN
ajst-4781	52	61	3	3	NUM
ajst-4781	52	62	.	.	PUNCT
ajst-4781	53	1	the	the	DET
ajst-4781	53	2	non	non	ADJ
ajst-4781	53	3	-	-	ADJ
ajst-4781	53	4	zero	zero	NUM
ajst-4781	53	5	fields	field	NOUN
ajst-4781	53	6	of	of	ADP
ajst-4781	53	7	different	different	ADJ
ajst-4781	53	8	basis	basis	NOUN
ajst-4781	53	9	functions	function	NOUN
ajst-4781	53	10	.	.	PUNCT
ajst-4781	54	1	from	from	ADP
ajst-4781	54	2	this	this	PRON
ajst-4781	54	3	we	we	PRON
ajst-4781	54	4	can	can	AUX
ajst-4781	54	5	deduce	deduce	VERB
ajst-4781	54	6	that	that	SCONJ
ajst-4781	54	7	the	the	DET
ajst-4781	54	8	k	k	PROPN
ajst-4781	54	9	order	order	NOUN
ajst-4781	54	10	b	b	X
ajst-4781	54	11	-	-	PUNCT
ajst-4781	54	12	spline	spline	NOUN
ajst-4781	54	13	is	be	AUX
ajst-4781	54	14	a	a	DET
ajst-4781	54	15	1k	1k	NUM
ajst-4781	54	16			NOUN
ajst-4781	54	17	curve	curve	NOUN
ajst-4781	54	18	about	about	ADP
ajst-4781	54	19	x	x	PRON
ajst-4781	54	20	,	,	PUNCT
ajst-4781	54	21	and	and	CCONJ
ajst-4781	54	22	its	its	PRON
ajst-4781	54	23	curve	curve	NOUN
ajst-4781	54	24	is	be	AUX
ajst-4781	54	25	composed	compose	VERB
ajst-4781	54	26	of	of	ADP
ajst-4781	54	27	several	several	ADJ
ajst-4781	54	28	sections	section	NOUN
ajst-4781	54	29	of	of	ADP
ajst-4781	54	30	bezier	bezier	NOUN
ajst-4781	54	31	curves	curve	NOUN
ajst-4781	54	32	,	,	PUNCT
ajst-4781	54	33	i	i	PRON
ajst-4781	54	34	,	,	PUNCT
ajst-4781	54	35	k	k	PROPN
ajst-4781	54	36	(	(	PUNCT
ajst-4781	54	37	)	)	PUNCT
ajst-4781	54	38	b	b	X
ajst-4781	54	39	x	x	PRON
ajst-4781	54	40	involves	involve	VERB
ajst-4781	54	41	a	a	DET
ajst-4781	54	42	total	total	NOUN
ajst-4781	54	43	of	of	ADP
ajst-4781	54	44	2n	2n	NUM
ajst-4781	54	45	k	k	NOUN
ajst-4781	54	46			ADV
ajst-4781	54	47	nodes	node	NOUN
ajst-4781	54	48	,	,	PUNCT
ajst-4781	54	49	including	include	VERB
ajst-4781	54	50	i	i	PRON
ajst-4781	54	51	i+1	i+1	ADV
ajst-4781	54	52	i+k	i+k	NOUN
ajst-4781	54	53	,	,	PUNCT
ajst-4781	54	54	,	,	PUNCT
ajst-4781	54	55	,	,	PUNCT
ajst-4781	54	56	x	x	PUNCT
ajst-4781	54	57	x	x	SYM
ajst-4781	54	58	x	x	X
ajst-4781	54	59	�	�	PROPN
ajst-4781	54	60	,	,	PUNCT
ajst-4781	54	61	which	which	PRON
ajst-4781	54	62	has	have	VERB
ajst-4781	54	63	k	k	PROPN
ajst-4781	54	64	intervals	interval	NOUN
ajst-4781	54	65	.	.	PUNCT
ajst-4781	55	1	therefore	therefore	ADV
ajst-4781	55	2	,	,	PUNCT
ajst-4781	55	3	a	a	DET
ajst-4781	55	4	total	total	NOUN
ajst-4781	55	5	of	of	ADP
ajst-4781	55	6	1n	1n	PROPN
ajst-4781	55	7	k	k	PROPN
ajst-4781	55	8			VERB
ajst-4781	55	9	nodes	node	NOUN
ajst-4781	55	10	are	be	AUX
ajst-4781	55	11	involved	involve	VERB
ajst-4781	55	12	from	from	ADP
ajst-4781	55	13	0,k	0,k	PROPN
ajst-4781	55	14	(	(	PUNCT
ajst-4781	55	15	)	)	PUNCT
ajst-4781	55	16	b	b	X
ajst-4781	55	17	x	x	PUNCT
ajst-4781	55	18	to	to	ADP
ajst-4781	55	19	n	n	CCONJ
ajst-4781	55	20	,	,	PUNCT
ajst-4781	55	21	k	k	PROPN
ajst-4781	55	22	(	(	PUNCT
ajst-4781	55	23	)	)	PUNCT
ajst-4781	55	24	b	b	X
ajst-4781	55	25	x	x	SYM
ajst-4781	55	26	.the	.the	DET
ajst-4781	55	27	domain	domain	NOUN
ajst-4781	55	28	of	of	ADP
ajst-4781	55	29	x	x	PROPN
ajst-4781	55	30	is	be	AUX
ajst-4781	55	31			NOUN
ajst-4781	55	32	k	k	NUM
ajst-4781	55	33	n+1,x	n+1,x	ADP
ajst-4781	55	34	x	x	NOUN
ajst-4781	55	35	.	.	PUNCT
ajst-4781	56	1	the	the	PRON
ajst-4781	56	2	higher	high	ADJ
ajst-4781	56	3	the	the	DET
ajst-4781	56	4	order	order	NOUN
ajst-4781	56	5	,	,	PUNCT
ajst-4781	56	6	the	the	PRON
ajst-4781	56	7	higher	high	ADJ
ajst-4781	56	8	the	the	DET
ajst-4781	56	9	derivative	derivative	ADJ
ajst-4781	56	10	order	order	NOUN
ajst-4781	56	11	of	of	ADP
ajst-4781	56	12	the	the	DET
ajst-4781	56	13	curve	curve	NOUN
ajst-4781	56	14	,	,	PUNCT
ajst-4781	56	15	then	then	ADV
ajst-4781	56	16	there	there	PRON
ajst-4781	56	17	will	will	AUX
ajst-4781	56	18	be	be	AUX
ajst-4781	56	19	many	many	ADJ
ajst-4781	56	20	zero	zero	NUM
ajst-4781	56	21	points	point	NOUN
ajst-4781	56	22	,	,	PUNCT
ajst-4781	56	23	and	and	CCONJ
ajst-4781	56	24	more	more	ADJ
ajst-4781	56	25	derivative	derivative	ADJ
ajst-4781	56	26	zero	zero	NUM
ajst-4781	56	27	points	point	NOUN
ajst-4781	56	28	will	will	AUX
ajst-4781	56	29	lead	lead	VERB
ajst-4781	56	30	to	to	ADP
ajst-4781	56	31	more	more	ADV
ajst-4781	56	32	extreme	extreme	ADJ
ajst-4781	56	33	values	value	NOUN
ajst-4781	56	34	in	in	ADP
ajst-4781	56	35	the	the	DET
ajst-4781	56	36	original	original	ADJ
ajst-4781	56	37	curve	curve	NOUN
ajst-4781	56	38	,	,	PUNCT
ajst-4781	56	39	making	make	VERB
ajst-4781	56	40	the	the	DET
ajst-4781	56	41	curve	curve	NOUN
ajst-4781	56	42	appear	appear	VERB
ajst-4781	56	43	more	more	ADJ
ajst-4781	56	44	peaks	peak	NOUN
ajst-4781	56	45	and	and	CCONJ
ajst-4781	56	46	valleys	valley	NOUN
ajst-4781	56	47	value	value	NOUN
ajst-4781	56	48	.	.	PUNCT
ajst-4781	57	1	the	the	DET
ajst-4781	57	2	lower	low	ADJ
ajst-4781	57	3	the	the	DET
ajst-4781	57	4	degree	degree	NOUN
ajst-4781	57	5	,	,	PUNCT
ajst-4781	57	6	the	the	PRON
ajst-4781	57	7	better	well	ADJ
ajst-4781	57	8	the	the	DET
ajst-4781	57	9	spline	spline	NOUN
ajst-4781	57	10	fits	fit	VERB
ajst-4781	57	11	the	the	DET
ajst-4781	57	12	control	control	NOUN
ajst-4781	57	13	points	point	NOUN
ajst-4781	57	14	.	.	PUNCT
ajst-4781	58	1	on	on	ADP
ajst-4781	58	2	the	the	DET
ajst-4781	58	3	other	other	ADJ
ajst-4781	58	4	hand	hand	NOUN
ajst-4781	58	5	,	,	PUNCT
ajst-4781	58	6	the	the	DET
ajst-4781	58	7	cubic	cubic	ADJ
ajst-4781	58	8	b	b	PROPN
ajst-4781	58	9	-	-	PUNCT
ajst-4781	58	10	spline	spline	NOUN
ajst-4781	58	11	curve	curve	NOUN
ajst-4781	58	12	can	can	AUX
ajst-4781	58	13	realize	realize	VERB
ajst-4781	58	14	the	the	DET
ajst-4781	58	15	continuity	continuity	NOUN
ajst-4781	58	16	of	of	ADP
ajst-4781	58	17	the	the	DET
ajst-4781	58	18	second	second	ADJ
ajst-4781	58	19	order	order	NOUN
ajst-4781	58	20	derivative	derivative	NOUN
ajst-4781	58	21	,	,	PUNCT
ajst-4781	58	22	so	so	SCONJ
ajst-4781	58	23	it	it	PRON
ajst-4781	58	24	is	be	AUX
ajst-4781	58	25	more	more	ADV
ajst-4781	58	26	appropriate	appropriate	ADJ
ajst-4781	58	27	to	to	PART
ajst-4781	58	28	finally	finally	ADV
ajst-4781	58	29	choose	choose	VERB
ajst-4781	58	30	the	the	DET
ajst-4781	58	31	cubic	cubic	ADJ
ajst-4781	58	32	b	b	PROPN
ajst-4781	58	33	-	-	PUNCT
ajst-4781	58	34	spline	spline	NOUN
ajst-4781	58	35	curve	curve	NOUN
ajst-4781	58	36	as	as	ADP
ajst-4781	58	37	the	the	DET
ajst-4781	58	38	curve	curve	NOUN
ajst-4781	58	39	for	for	ADP
ajst-4781	58	40	trajectory	trajectory	NOUN
ajst-4781	58	41	planning	planning	NOUN
ajst-4781	58	42	.	.	PUNCT
ajst-4781	59	1	during	during	ADP
ajst-4781	59	2	the	the	DET
ajst-4781	59	3	actual	actual	ADJ
ajst-4781	59	4	navigation	navigation	NOUN
ajst-4781	59	5	of	of	ADP
ajst-4781	59	6	the	the	DET
ajst-4781	59	7	usv	usv	ADJ
ajst-4781	59	8	,	,	PUNCT
ajst-4781	59	9	we	we	PRON
ajst-4781	59	10	set	set	VERB
ajst-4781	59	11	the	the	DET
ajst-4781	59	12	local	local	ADJ
ajst-4781	59	13	obstacle	obstacle	NOUN
ajst-4781	59	14	points	point	NOUN
ajst-4781	59	15	detected	detect	VERB
ajst-4781	59	16	by	by	ADP
ajst-4781	59	17	the	the	DET
ajst-4781	59	18	millimeter	millimeter	NOUN
ajst-4781	59	19	wave	wave	NOUN
ajst-4781	59	20	radar	radar	NOUN
ajst-4781	59	21	as	as	ADP
ajst-4781	59	22	the	the	DET
ajst-4781	59	23	main	main	ADJ
ajst-4781	59	24	control	control	NOUN
ajst-4781	59	25	points	point	NOUN
ajst-4781	59	26	of	of	ADP
ajst-4781	59	27	the	the	DET
ajst-4781	59	28	b	b	PROPN
ajst-4781	59	29	-	-	PUNCT
ajst-4781	59	30	spline	spline	NOUN
ajst-4781	59	31	curve	curve	NOUN
ajst-4781	59	32	,	,	PUNCT
ajst-4781	59	33	so	so	SCONJ
ajst-4781	59	34	that	that	SCONJ
ajst-4781	59	35	a	a	DET
ajst-4781	59	36	local	local	ADJ
ajst-4781	59	37	collision	collision	NOUN
ajst-4781	59	38	avoidance	avoidance	NOUN
ajst-4781	59	39	trajectory	trajectory	NOUN
ajst-4781	59	40	limited	limit	VERB
ajst-4781	59	41	by	by	ADP
ajst-4781	59	42	the	the	DET
ajst-4781	59	43	obstacle	obstacle	NOUN
ajst-4781	59	44	space	space	NOUN
ajst-4781	59	45	can	can	AUX
ajst-4781	59	46	be	be	AUX
ajst-4781	59	47	planned	plan	VERB
ajst-4781	59	48	.	.	PUNCT
ajst-4781	60	1	but	but	CCONJ
ajst-4781	60	2	this	this	PRON
ajst-4781	60	3	can	can	AUX
ajst-4781	60	4	only	only	ADV
ajst-4781	60	5	guarantee	guarantee	VERB
ajst-4781	60	6	avoidance	avoidance	NOUN
ajst-4781	60	7	of	of	ADP
ajst-4781	60	8	obstacles	obstacle	NOUN
ajst-4781	60	9	,	,	PUNCT
ajst-4781	60	10	and	and	CCONJ
ajst-4781	60	11	its	its	PRON
ajst-4781	60	12	path	path	NOUN
ajst-4781	60	13	optimization	optimization	NOUN
ajst-4781	60	14	is	be	AUX
ajst-4781	60	15	difficult	difficult	ADJ
ajst-4781	60	16	to	to	PART
ajst-4781	60	17	guarantee	guarantee	VERB
ajst-4781	60	18	.	.	PUNCT
ajst-4781	61	1	therefore	therefore	ADV
ajst-4781	61	2	,	,	PUNCT
ajst-4781	61	3	in	in	ADP
ajst-4781	61	4	addition	addition	NOUN
ajst-4781	61	5	to	to	PART
ajst-4781	61	6	obstacle	obstacle	VERB
ajst-4781	61	7	points	point	NOUN
ajst-4781	61	8	,	,	PUNCT
ajst-4781	61	9	the	the	DET
ajst-4781	61	10	selection	selection	NOUN
ajst-4781	61	11	of	of	ADP
ajst-4781	61	12	other	other	ADJ
ajst-4781	61	13	control	control	NOUN
ajst-4781	61	14	points	point	NOUN
ajst-4781	61	15	will	will	AUX
ajst-4781	61	16	affect	affect	VERB
ajst-4781	61	17	the	the	DET
ajst-4781	61	18	optimization	optimization	NOUN
ajst-4781	61	19	of	of	ADP
ajst-4781	61	20	collision	collision	NOUN
ajst-4781	61	21	avoidance	avoidance	NOUN
ajst-4781	61	22	path	path	NOUN
ajst-4781	61	23	.	.	PUNCT
ajst-4781	62	1	we	we	PRON
ajst-4781	62	2	obtain	obtain	VERB
ajst-4781	62	3	a	a	DET
ajst-4781	62	4	set	set	NOUN
ajst-4781	62	5	of	of	ADP
ajst-4781	62	6	local	local	ADJ
ajst-4781	62	7	path	path	NOUN
ajst-4781	62	8	cluster	cluster	NOUN
ajst-4781	62	9	by	by	ADP
ajst-4781	62	10	choosing	choose	VERB
ajst-4781	62	11	different	different	ADJ
ajst-4781	62	12	control	control	NOUN
ajst-4781	62	13	points	point	NOUN
ajst-4781	62	14	,	,	PUNCT
ajst-4781	62	15	and	and	CCONJ
ajst-4781	62	16	we	we	PRON
ajst-4781	62	17	use	use	VERB
ajst-4781	62	18	the	the	DET
ajst-4781	62	19	path	path	NOUN
ajst-4781	62	20	length	length	NOUN
ajst-4781	62	21	and	and	CCONJ
ajst-4781	62	22	the	the	DET
ajst-4781	62	23	average	average	ADJ
ajst-4781	62	24	curvature	curvature	NOUN
ajst-4781	62	25	of	of	ADP
ajst-4781	62	26	the	the	DET
ajst-4781	62	27	path	path	NOUN
ajst-4781	62	28	as	as	ADP
ajst-4781	62	29	the	the	DET
ajst-4781	62	30	evaluation	evaluation	NOUN
ajst-4781	62	31	index	index	NOUN
ajst-4781	62	32	of	of	ADP
ajst-4781	62	33	the	the	DET
ajst-4781	62	34	local	local	ADJ
ajst-4781	62	35	path	path	NOUN
ajst-4781	62	36	planning	planning	NOUN
ajst-4781	62	37	of	of	ADP
ajst-4781	62	38	the	the	DET
ajst-4781	62	39	usv	usv	ADJ
ajst-4781	62	40	,	,	PUNCT
ajst-4781	62	41	which	which	PRON
ajst-4781	62	42	are	be	AUX
ajst-4781	62	43	used	use	VERB
ajst-4781	62	44	to	to	PART
ajst-4781	62	45	reflect	reflect	VERB
ajst-4781	62	46	the	the	DET
ajst-4781	62	47	overall	overall	ADJ
ajst-4781	62	48	time	time	NOUN
ajst-4781	62	49	of	of	ADP
ajst-4781	62	50	avoiding	avoid	VERB
ajst-4781	62	51	obstacles	obstacle	NOUN
ajst-4781	62	52	and	and	CCONJ
ajst-4781	62	53	the	the	DET
ajst-4781	62	54	smoothness	smoothness	NOUN
ajst-4781	62	55	of	of	ADP
ajst-4781	62	56	the	the	DET
ajst-4781	62	57	collision	collision	NOUN
ajst-4781	62	58	avoidance	avoidance	NOUN
ajst-4781	62	59	path	path	NOUN
ajst-4781	62	60	respectively	respectively	ADV
ajst-4781	62	61	.	.	PUNCT
ajst-4781	63	1	according	accord	VERB
ajst-4781	63	2	to	to	ADP
ajst-4781	63	3	the	the	DET
ajst-4781	63	4	complexity	complexity	NOUN
ajst-4781	63	5	of	of	ADP
ajst-4781	63	6	the	the	DET
ajst-4781	63	7	problem	problem	NOUN
ajst-4781	63	8	of	of	ADP
ajst-4781	63	9	local	local	ADJ
ajst-4781	63	10	path	path	NOUN
ajst-4781	63	11	screening	screening	NOUN
ajst-4781	63	12	of	of	ADP
ajst-4781	63	13	the	the	DET
ajst-4781	63	14	usv	usv	ADJ
ajst-4781	63	15	,	,	PUNCT
ajst-4781	63	16	it	it	PRON
ajst-4781	63	17	is	be	AUX
ajst-4781	63	18	more	more	ADV
ajst-4781	63	19	appropriate	appropriate	ADJ
ajst-4781	63	20	to	to	PART
ajst-4781	63	21	choose	choose	VERB
ajst-4781	63	22	the	the	DET
ajst-4781	63	23	linear	linear	ADJ
ajst-4781	63	24	weighting	weighting	NOUN
ajst-4781	63	25	method	method	NOUN
ajst-4781	63	26	,	,	PUNCT
ajst-4781	63	27	as	as	SCONJ
ajst-4781	63	28	follows	follow	VERB
ajst-4781	63	29	:	:	PUNCT
ajst-4781	63	30			NOUN
ajst-4781	63	31			PROPN
ajst-4781	63	32			NOUN
ajst-4781	63	33			PROPN
ajst-4781	63	34	i1	i1	NOUN
ajst-4781	63	35	2	2	NUM
ajst-4781	63	36	2	2	NUM
ajst-4781	63	37	1	1	NUM
ajst-4781	63	38	1	1	NUM
ajst-4781	63	39	length	length	NOUN
ajst-4781	63	40	2	2	NUM
ajst-4781	63	41	curvature	curvature	NOUN
ajst-4781	63	42	1	1	NUM
ajst-4781	63	43	i+1	i+1	NOUN
ajst-4781	63	44	i	i	PRON
ajst-4781	63	45	i+1	i+1	VERB
ajst-4781	63	46	i	i	VERB
ajst-4781	63	47	2	2	NUM
ajst-4781	63	48	1	1	NUM
ajst-4781	63	49	n	n	NUM
ajst-4781	64	1	n	n	NOUN
ajst-4781	65	1	i	i	PRON
ajst-4781	66	1	i	i	VERB
ajst-4781	66	2	k	k	NOUN
ajst-4781	67	1	x	x	PUNCT
ajst-4781	67	2	x	x	VERB
ajst-4781	67	3	y	y	VERB
ajst-4781	67	4	y	y	PROPN
ajst-4781	67	5	n	n	ADV
ajst-4781	67	6			X
ajst-4781	68	1			X
ajst-4781	68	2			X
ajst-4781	68	3			X
ajst-4781	68	4			PROPN
ajst-4781	68	5			NUM
ajst-4781	68	6			NUM
ajst-4781	68	7			NUM
ajst-4781	68	8			PROPN
ajst-4781	68	9			NUM
ajst-4781	68	10			X
ajst-4781	68	11			NUM
ajst-4781	68	12			PROPN
ajst-4781	68	13			PROPN
ajst-4781	68	14			ADV
ajst-4781	68	15			PROPN
ajst-4781	68	16			VERB
ajst-4781	68	17			X
ajst-4781	68	18			X
ajst-4781	68	19	(	(	PUNCT
ajst-4781	68	20	4	4	NUM
ajst-4781	68	21	)	)	SYM
ajst-4781	68	22	4	4	NUM
ajst-4781	68	23	.	.	PUNCT
ajst-4781	68	24	experimental	experimental	ADJ
ajst-4781	68	25	results	result	NOUN
ajst-4781	68	26	and	and	CCONJ
ajst-4781	68	27	analysis	analysis	NOUN
ajst-4781	68	28	this	this	DET
ajst-4781	68	29	study	study	NOUN
ajst-4781	68	30	has	have	AUX
ajst-4781	68	31	achieved	achieve	VERB
ajst-4781	68	32	a	a	DET
ajst-4781	68	33	good	good	ADJ
ajst-4781	68	34	result	result	NOUN
ajst-4781	68	35	through	through	ADP
ajst-4781	68	36	simulation	simulation	NOUN
ajst-4781	68	37	experiments	experiment	NOUN
ajst-4781	68	38	and	and	CCONJ
ajst-4781	68	39	actual	actual	ADJ
ajst-4781	68	40	usv	usv	ADJ
ajst-4781	68	41	verification	verification	NOUN
ajst-4781	68	42	.	.	PUNCT
ajst-4781	69	1	as	as	SCONJ
ajst-4781	69	2	shown	show	VERB
ajst-4781	69	3	in	in	ADP
ajst-4781	69	4	the	the	DET
ajst-4781	69	5	figure	figure	NOUN
ajst-4781	69	6	4	4	NUM
ajst-4781	69	7	,	,	PUNCT
ajst-4781	69	8	it	it	PRON
ajst-4781	69	9	is	be	AUX
ajst-4781	69	10	a	a	DET
ajst-4781	69	11	local	local	ADJ
ajst-4781	69	12	collision	collision	NOUN
ajst-4781	69	13	avoidance	avoidance	NOUN
ajst-4781	69	14	trajectory	trajectory	NOUN
ajst-4781	69	15	planned	plan	VERB
ajst-4781	69	16	in	in	ADP
ajst-4781	69	17	real	real	ADJ
ajst-4781	69	18	time	time	NOUN
ajst-4781	69	19	by	by	ADP
ajst-4781	69	20	using	use	VERB
ajst-4781	69	21	the	the	DET
ajst-4781	69	22	b	b	PROPN
ajst-4781	69	23	-	-	PUNCT
ajst-4781	69	24	spline	spline	NOUN
ajst-4781	69	25	curve	curve	NOUN
ajst-4781	69	26	method	method	NOUN
ajst-4781	69	27	,	,	PUNCT
ajst-4781	69	28	where	where	SCONJ
ajst-4781	69	29	0d	0d	PRON
ajst-4781	69	30	is	be	AUX
ajst-4781	69	31	the	the	DET
ajst-4781	69	32	current	current	ADJ
ajst-4781	69	33	position	position	NOUN
ajst-4781	69	34	of	of	ADP
ajst-4781	69	35	the	the	DET
ajst-4781	69	36	usv	usv	ADJ
ajst-4781	69	37	,	,	PUNCT
ajst-4781	69	38	3d	3d	PROPN
ajst-4781	69	39	is	be	AUX
ajst-4781	69	40	the	the	DET
ajst-4781	69	41	local	local	ADJ
ajst-4781	69	42	target	target	NOUN
ajst-4781	69	43	position	position	NOUN
ajst-4781	69	44	of	of	ADP
ajst-4781	69	45	the	the	DET
ajst-4781	69	46	usv	usv	ADJ
ajst-4781	69	47	,	,	PUNCT
ajst-4781	69	48	2d	2d	PROPN
ajst-4781	69	49	is	be	AUX
ajst-4781	69	50	the	the	DET
ajst-4781	69	51	obstacle	obstacle	NOUN
ajst-4781	69	52	,	,	PUNCT
ajst-4781	69	53	and	and	CCONJ
ajst-4781	69	54	1d	1d	NUM
ajst-4781	69	55	is	be	AUX
ajst-4781	69	56	the	the	DET
ajst-4781	69	57	control	control	NOUN
ajst-4781	69	58	point	point	NOUN
ajst-4781	69	59	considering	consider	VERB
ajst-4781	69	60	the	the	DET
ajst-4781	69	61	collision	collision	NOUN
ajst-4781	69	62	avoidance	avoidance	NOUN
ajst-4781	69	63	for	for	ADP
ajst-4781	69	64	trajectory	trajectory	NOUN
ajst-4781	69	65	optimization	optimization	NOUN
ajst-4781	69	66	,	,	PUNCT
ajst-4781	69	67	and	and	CCONJ
ajst-4781	69	68	the	the	DET
ajst-4781	69	69	number	number	NOUN
ajst-4781	69	70	of	of	ADP
ajst-4781	69	71	trajectory	trajectory	NOUN
ajst-4781	69	72	sampling	sampling	NOUN
ajst-4781	69	73	points	point	NOUN
ajst-4781	69	74	is	be	AUX
ajst-4781	69	75	100	100	NUM
ajst-4781	69	76	.	.	PUNCT
ajst-4781	70	1	figure	figure	VERB
ajst-4781	70	2	4	4	NUM
ajst-4781	70	3	.	.	PUNCT
ajst-4781	70	4	local	local	ADJ
ajst-4781	70	5	path	path	NOUN
ajst-4781	70	6	in	in	ADP
ajst-4781	70	7	simulation	simulation	NOUN
ajst-4781	70	8	experiments	experiment	NOUN
ajst-4781	70	9	.	.	PUNCT
ajst-4781	71	1	33	33	NUM
ajst-4781	71	2	as	as	SCONJ
ajst-4781	71	3	shown	show	VERB
ajst-4781	71	4	in	in	ADP
ajst-4781	71	5	the	the	DET
ajst-4781	71	6	figure	figure	NOUN
ajst-4781	71	7	5	5	NUM
ajst-4781	71	8	is	be	AUX
ajst-4781	71	9	the	the	DET
ajst-4781	71	10	trajectory	trajectory	NOUN
ajst-4781	71	11	and	and	CCONJ
ajst-4781	71	12	tracking	tracking	NOUN
ajst-4781	71	13	effect	effect	NOUN
ajst-4781	71	14	of	of	ADP
ajst-4781	71	15	the	the	DET
ajst-4781	71	16	actual	actual	ADJ
ajst-4781	71	17	collision	collision	NOUN
ajst-4781	71	18	avoidance	avoidance	NOUN
ajst-4781	71	19	process	process	NOUN
ajst-4781	71	20	of	of	ADP
ajst-4781	71	21	the	the	DET
ajst-4781	71	22	usv	usv	PROPN
ajst-4781	71	23	.	.	PUNCT
ajst-4781	72	1	figure	figure	NOUN
ajst-4781	72	2	5	5	NUM
ajst-4781	72	3	.	.	PUNCT
ajst-4781	72	4	local	local	ADJ
ajst-4781	72	5	path	path	NOUN
ajst-4781	72	6	in	in	ADP
ajst-4781	72	7	actual	actual	ADJ
ajst-4781	72	8	navigation	navigation	NOUN
ajst-4781	72	9	.	.	PUNCT
ajst-4781	73	1	as	as	SCONJ
ajst-4781	73	2	shown	show	VERB
ajst-4781	73	3	in	in	ADP
ajst-4781	73	4	the	the	DET
ajst-4781	73	5	figure	figure	NOUN
ajst-4781	73	6	6	6	NUM
ajst-4781	73	7	,	,	PUNCT
ajst-4781	73	8	the	the	DET
ajst-4781	73	9	planned	plan	VERB
ajst-4781	73	10	heading	heading	NOUN
ajst-4781	73	11	angle	angle	NOUN
ajst-4781	73	12	and	and	CCONJ
ajst-4781	73	13	the	the	DET
ajst-4781	73	14	actual	actual	ADJ
ajst-4781	73	15	heading	head	VERB
ajst-4781	73	16	angle	angle	NOUN
ajst-4781	73	17	change	change	NOUN
ajst-4781	73	18	with	with	ADP
ajst-4781	73	19	time	time	NOUN
ajst-4781	73	20	during	during	ADP
ajst-4781	73	21	the	the	DET
ajst-4781	73	22	entire	entire	ADJ
ajst-4781	73	23	voyage	voyage	NOUN
ajst-4781	73	24	of	of	ADP
ajst-4781	73	25	the	the	DET
ajst-4781	73	26	usv	usv	PROPN
ajst-4781	73	27	.	.	PUNCT
ajst-4781	74	1	figure	figure	NOUN
ajst-4781	74	2	6	6	NUM
ajst-4781	74	3	.	.	PUNCT
ajst-4781	75	1	the	the	DET
ajst-4781	75	2	change	change	NOUN
ajst-4781	75	3	of	of	ADP
ajst-4781	75	4	heading	head	VERB
ajst-4781	75	5	.	.	PUNCT
ajst-4781	76	1	the	the	DET
ajst-4781	76	2	distance	distance	NOUN
ajst-4781	76	3	between	between	ADP
ajst-4781	76	4	the	the	DET
ajst-4781	76	5	usv	usv	NOUN
ajst-4781	76	6	and	and	CCONJ
ajst-4781	76	7	the	the	DET
ajst-4781	76	8	obstacle	obstacle	NOUN
ajst-4781	76	9	is	be	AUX
ajst-4781	76	10	shown	show	VERB
ajst-4781	76	11	as	as	ADP
ajst-4781	76	12	figure	figure	NOUN
ajst-4781	76	13	7	7	NUM
ajst-4781	76	14	,	,	PUNCT
ajst-4781	76	15	and	and	CCONJ
ajst-4781	76	16	the	the	DET
ajst-4781	76	17	change	change	NOUN
ajst-4781	76	18	of	of	ADP
ajst-4781	76	19	the	the	DET
ajst-4781	76	20	planned	plan	VERB
ajst-4781	76	21	speed	speed	NOUN
ajst-4781	76	22	and	and	CCONJ
ajst-4781	76	23	the	the	DET
ajst-4781	76	24	actual	actual	ADJ
ajst-4781	76	25	speed	speed	NOUN
ajst-4781	76	26	with	with	ADP
ajst-4781	76	27	time	time	NOUN
ajst-4781	76	28	is	be	AUX
ajst-4781	76	29	shown	show	VERB
ajst-4781	76	30	as	as	ADP
ajst-4781	76	31	figure	figure	NOUN
ajst-4781	76	32	8	8	NUM
ajst-4781	76	33	.	.	PUNCT
ajst-4781	77	1	figure	figure	VERB
ajst-4781	77	2	7	7	NUM
ajst-4781	77	3	.	.	PUNCT
ajst-4781	78	1	the	the	DET
ajst-4781	78	2	change	change	NOUN
ajst-4781	78	3	of	of	ADP
ajst-4781	78	4	distance	distance	NOUN
ajst-4781	78	5	between	between	ADP
ajst-4781	78	6	obstacle	obstacle	NOUN
ajst-4781	78	7	and	and	CCONJ
ajst-4781	78	8	usv	usv	PROPN
ajst-4781	78	9	.	.	PUNCT
ajst-4781	78	10	figure	figure	VERB
ajst-4781	78	11	8	8	NUM
ajst-4781	78	12	.	.	PUNCT
ajst-4781	79	1	the	the	DET
ajst-4781	79	2	change	change	NOUN
ajst-4781	79	3	of	of	ADP
ajst-4781	79	4	speed	speed	NOUN
ajst-4781	79	5	of	of	ADP
ajst-4781	79	6	the	the	DET
ajst-4781	79	7	usv	usv	PROPN
ajst-4781	79	8	.	.	PUNCT
ajst-4781	79	9	from	from	ADP
ajst-4781	79	10	the	the	DET
ajst-4781	79	11	experimental	experimental	ADJ
ajst-4781	79	12	results	result	NOUN
ajst-4781	79	13	,	,	PUNCT
ajst-4781	79	14	the	the	DET
ajst-4781	79	15	local	local	ADJ
ajst-4781	79	16	collision	collision	NOUN
ajst-4781	79	17	avoidance	avoidance	NOUN
ajst-4781	79	18	path	path	NOUN
ajst-4781	79	19	planned	plan	VERB
ajst-4781	79	20	by	by	ADP
ajst-4781	79	21	the	the	DET
ajst-4781	79	22	simulation	simulation	NOUN
ajst-4781	79	23	is	be	AUX
ajst-4781	79	24	verified	verify	VERB
ajst-4781	79	25	in	in	ADP
ajst-4781	79	26	practice	practice	NOUN
ajst-4781	79	27	.	.	PUNCT
ajst-4781	80	1	from	from	ADP
ajst-4781	80	2	the	the	DET
ajst-4781	80	3	above	above	ADJ
ajst-4781	80	4	experimental	experimental	ADJ
ajst-4781	80	5	data	datum	NOUN
ajst-4781	80	6	,	,	PUNCT
ajst-4781	80	7	it	it	PRON
ajst-4781	80	8	can	can	AUX
ajst-4781	80	9	be	be	AUX
ajst-4781	80	10	seen	see	VERB
ajst-4781	80	11	that	that	SCONJ
ajst-4781	80	12	the	the	DET
ajst-4781	80	13	change	change	NOUN
ajst-4781	80	14	of	of	ADP
ajst-4781	80	15	heading	head	VERB
ajst-4781	80	16	angle	angle	NOUN
ajst-4781	80	17	of	of	ADP
ajst-4781	80	18	the	the	DET
ajst-4781	80	19	usv	usv	NOUN
ajst-4781	80	20	in	in	ADP
ajst-4781	80	21	the	the	DET
ajst-4781	80	22	process	process	NOUN
ajst-4781	80	23	of	of	ADP
ajst-4781	80	24	collision	collision	NOUN
ajst-4781	80	25	avoidance	avoidance	NOUN
ajst-4781	80	26	is	be	AUX
ajst-4781	80	27	controlled	control	VERB
ajst-4781	80	28	within	within	ADP
ajst-4781	80	29	a	a	DET
ajst-4781	80	30	reasonable	reasonable	ADJ
ajst-4781	80	31	range	range	NOUN
ajst-4781	80	32	,	,	PUNCT
ajst-4781	80	33	and	and	CCONJ
ajst-4781	80	34	the	the	DET
ajst-4781	80	35	error	error	NOUN
ajst-4781	80	36	between	between	ADP
ajst-4781	80	37	the	the	DET
ajst-4781	80	38	planned	plan	VERB
ajst-4781	80	39	heading	heading	NOUN
ajst-4781	80	40	and	and	CCONJ
ajst-4781	80	41	the	the	DET
ajst-4781	80	42	actual	actual	ADJ
ajst-4781	80	43	heading	heading	NOUN
ajst-4781	80	44	is	be	AUX
ajst-4781	80	45	small	small	ADJ
ajst-4781	80	46	.	.	PUNCT
ajst-4781	81	1	the	the	DET
ajst-4781	81	2	usv	usv	ADJ
ajst-4781	81	3	reduces	reduce	VERB
ajst-4781	81	4	the	the	DET
ajst-4781	81	5	risk	risk	NOUN
ajst-4781	81	6	of	of	ADP
ajst-4781	81	7	collision	collision	NOUN
ajst-4781	81	8	as	as	ADP
ajst-4781	81	9	the	the	DET
ajst-4781	81	10	distance	distance	NOUN
ajst-4781	81	11	between	between	ADP
ajst-4781	81	12	the	the	DET
ajst-4781	81	13	usv	usv	NOUN
ajst-4781	81	14	and	and	CCONJ
ajst-4781	81	15	the	the	DET
ajst-4781	81	16	obstacle	obstacle	NOUN
ajst-4781	81	17	decreases	decrease	VERB
ajst-4781	81	18	by	by	ADP
ajst-4781	81	19	decelerating	decelerate	VERB
ajst-4781	81	20	,	,	PUNCT
ajst-4781	81	21	which	which	PRON
ajst-4781	81	22	improves	improve	VERB
ajst-4781	81	23	the	the	DET
ajst-4781	81	24	safety	safety	NOUN
ajst-4781	81	25	and	and	CCONJ
ajst-4781	81	26	rationality	rationality	NOUN
ajst-4781	81	27	of	of	ADP
ajst-4781	81	28	the	the	DET
ajst-4781	81	29	usv	usv	ADJ
ajst-4781	81	30	navigation	navigation	NOUN
ajst-4781	81	31	.	.	PUNCT
ajst-4781	82	1	5	5	X
ajst-4781	82	2	.	.	X
ajst-4781	82	3	conclusion	conclusion	NOUN
ajst-4781	82	4	in	in	ADP
ajst-4781	82	5	this	this	DET
ajst-4781	82	6	research	research	NOUN
ajst-4781	82	7	,	,	PUNCT
ajst-4781	82	8	we	we	PRON
ajst-4781	82	9	can	can	AUX
ajst-4781	82	10	obtain	obtain	VERB
ajst-4781	82	11	the	the	DET
ajst-4781	82	12	data	datum	NOUN
ajst-4781	82	13	of	of	ADP
ajst-4781	82	14	distance	distance	NOUN
ajst-4781	82	15	,	,	PUNCT
ajst-4781	82	16	speed	speed	NOUN
ajst-4781	82	17	,	,	PUNCT
ajst-4781	82	18	size	size	NOUN
ajst-4781	82	19	,	,	PUNCT
ajst-4781	82	20	and	and	CCONJ
ajst-4781	82	21	other	other	ADJ
ajst-4781	82	22	information	information	NOUN
ajst-4781	82	23	of	of	ADP
ajst-4781	82	24	obstacles	obstacle	NOUN
ajst-4781	82	25	on	on	ADP
ajst-4781	82	26	water	water	NOUN
ajst-4781	82	27	surface	surface	NOUN
ajst-4781	82	28	detected	detect	VERB
ajst-4781	82	29	by	by	ADP
ajst-4781	82	30	millimeter	millimeter	NOUN
ajst-4781	82	31	wave	wave	PROPN
ajst-4781	82	32	radar	radar	NOUN
ajst-4781	82	33	.	.	PUNCT
ajst-4781	83	1	then	then	ADV
ajst-4781	83	2	,	,	PUNCT
ajst-4781	83	3	a	a	DET
ajst-4781	83	4	local	local	ADJ
ajst-4781	83	5	collision	collision	NOUN
ajst-4781	83	6	avoidance	avoidance	NOUN
ajst-4781	83	7	path	path	NOUN
ajst-4781	83	8	cluster	cluster	NOUN
ajst-4781	83	9	is	be	AUX
ajst-4781	83	10	planned	plan	VERB
ajst-4781	83	11	by	by	ADP
ajst-4781	83	12	b	b	NOUN
ajst-4781	83	13	-	-	PUNCT
ajst-4781	83	14	spline	spline	NOUN
ajst-4781	83	15	curve	curve	NOUN
ajst-4781	83	16	method	method	NOUN
ajst-4781	83	17	,	,	PUNCT
ajst-4781	83	18	and	and	CCONJ
ajst-4781	83	19	the	the	DET
ajst-4781	83	20	length	length	NOUN
ajst-4781	83	21	and	and	CCONJ
ajst-4781	83	22	smoothness	smoothness	NOUN
ajst-4781	83	23	of	of	ADP
ajst-4781	83	24	the	the	DET
ajst-4781	83	25	local	local	ADJ
ajst-4781	83	26	path	path	NOUN
ajst-4781	83	27	are	be	AUX
ajst-4781	83	28	considered	consider	VERB
ajst-4781	83	29	,	,	PUNCT
ajst-4781	83	30	which	which	PRON
ajst-4781	83	31	improved	improve	VERB
ajst-4781	83	32	the	the	DET
ajst-4781	83	33	safety	safety	NOUN
ajst-4781	83	34	and	and	CCONJ
ajst-4781	83	35	smoothness	smoothness	NOUN
ajst-4781	83	36	of	of	ADP
ajst-4781	83	37	the	the	DET
ajst-4781	83	38	collision	collision	NOUN
ajst-4781	83	39	avoidance	avoidance	NOUN
ajst-4781	83	40	path	path	NOUN
ajst-4781	83	41	in	in	ADP
ajst-4781	83	42	the	the	DET
ajst-4781	83	43	navigation	navigation	NOUN
ajst-4781	83	44	of	of	ADP
ajst-4781	83	45	the	the	DET
ajst-4781	83	46	usv	usv	PROPN
ajst-4781	83	47	.	.	PUNCT
ajst-4781	84	1	acknowledgment	acknowledgment	NOUN
ajst-4781	84	2	this	this	DET
ajst-4781	84	3	work	work	NOUN
ajst-4781	84	4	was	be	AUX
ajst-4781	84	5	supported	support	VERB
ajst-4781	84	6	by	by	ADP
ajst-4781	84	7	the	the	DET
ajst-4781	84	8	key	key	ADJ
ajst-4781	84	9	-	-	PUNCT
ajst-4781	84	10	area	area	NOUN
ajst-4781	84	11	research	research	NOUN
ajst-4781	84	12	and	and	CCONJ
ajst-4781	84	13	development	development	NOUN
ajst-4781	84	14	program	program	NOUN
ajst-4781	84	15	of	of	ADP
ajst-4781	84	16	guangdong	guangdong	PROPN
ajst-4781	84	17	province	province	PROPN
ajst-4781	84	18	(	(	PUNCT
ajst-4781	84	19	2020b1111010002	2020b1111010002	NUM
ajst-4781	84	20	)	)	PUNCT
ajst-4781	84	21	.	.	PUNCT
ajst-4781	85	1	34	34	NUM
ajst-4781	85	2	references	reference	NOUN
ajst-4781	85	3	[	[	X
ajst-4781	85	4	1	1	NUM
ajst-4781	85	5	]	]	PUNCT
ajst-4781	85	6	chen	chen	PROPN
ajst-4781	85	7	h	h	PROPN
ajst-4781	85	8	,	,	PUNCT
ajst-4781	85	9	zhang	zhang	PROPN
ajst-4781	85	10	x	x	SYM
ajst-4781	85	11	y	y	PROPN
ajst-4781	85	12	,	,	PUNCT
ajst-4781	85	13	jiang	jiang	PROPN
ajst-4781	85	14	c	c	PROPN
ajst-4781	85	15	f.	f.	PROPN
ajst-4781	85	16	a	a	DET
ajst-4781	85	17	review	review	NOUN
ajst-4781	85	18	of	of	ADP
ajst-4781	85	19	surface	surface	NOUN
ajst-4781	85	20	unmanned	unmanned	ADJ
ajst-4781	85	21	boat	boat	NOUN
ajst-4781	85	22	path	path	PROPN
ajst-4781	85	23	planning	planning	NOUN
ajst-4781	85	24	research	research	NOUN
ajst-4781	85	25	.	.	PUNCT
ajst-4781	86	1	world	world	NOUN
ajst-4781	86	2	shipping	shipping	PROPN
ajst-4781	86	3	.	.	PUNCT
ajst-4781	87	1	vol	vol	NOUN
ajst-4781	87	2	.	.	PUNCT
ajst-4781	88	1	38	38	NUM
ajst-4781	88	2	(	(	PUNCT
ajst-4781	88	3	2015	2015	NUM
ajst-4781	88	4	)	)	PUNCT
ajst-4781	88	5	no	no	INTJ
ajst-4781	88	6	.	.	NOUN
ajst-4781	88	7	11	11	NUM
ajst-4781	88	8	,	,	PUNCT
ajst-4781	88	9	p.	p.	NOUN
ajst-4781	88	10	30	30	NUM
ajst-4781	88	11	-	-	SYM
ajst-4781	88	12	33	33	NUM
ajst-4781	88	13	.	.	PUNCT
ajst-4781	89	1	[	[	X
ajst-4781	89	2	2	2	X
ajst-4781	89	3	]	]	X
ajst-4781	89	4	liu	liu	PROPN
ajst-4781	89	5	s	s	PROPN
ajst-4781	89	6	j	j	PROPN
ajst-4781	89	7	:	:	PUNCT
ajst-4781	89	8	research	research	NOUN
ajst-4781	89	9	and	and	CCONJ
ajst-4781	89	10	implementation	implementation	NOUN
ajst-4781	89	11	of	of	ADP
ajst-4781	89	12	intelligent	intelligent	ADJ
ajst-4781	89	13	obstacle	obstacle	NOUN
ajst-4781	89	14	avoidance	avoidance	NOUN
ajst-4781	89	15	strategy	strategy	NOUN
ajst-4781	89	16	for	for	ADP
ajst-4781	89	17	unmanned	unmanned	ADJ
ajst-4781	89	18	surface	surface	NOUN
ajst-4781	89	19	vessel	vessel	NOUN
ajst-4781	90	1	[	[	X
ajst-4781	90	2	d	d	X
ajst-4781	90	3	]	]	X
ajst-4781	90	4	.	.	PUNCT
ajst-4781	91	1	huazhong	huazhong	PROPN
ajst-4781	91	2	university	university	PROPN
ajst-4781	91	3	of	of	ADP
ajst-4781	91	4	science	science	NOUN
ajst-4781	91	5	and	and	CCONJ
ajst-4781	91	6	technology	technology	NOUN
ajst-4781	91	7	,	,	PUNCT
ajst-4781	91	8	china	china	PROPN
ajst-4781	91	9	,	,	PUNCT
ajst-4781	91	10	2021	2021	NUM
ajst-4781	91	11	.	.	PUNCT
ajst-4781	92	1	p.	p.	NOUN
ajst-4781	92	2	60	60	NUM
ajst-4781	92	3	-	-	SYM
ajst-4781	92	4	61	61	NUM
ajst-4781	92	5	.	.	PUNCT
ajst-4781	93	1	[	[	X
ajst-4781	93	2	3	3	X
ajst-4781	93	3	]	]	X
ajst-4781	93	4	wang	wang	PROPN
ajst-4781	93	5	y	y	PROPN
ajst-4781	93	6	t	t	PROPN
ajst-4781	93	7	:	:	PUNCT
ajst-4781	93	8	obstacles	obstacle	NOUN
ajst-4781	93	9	avoidance	avoidance	NOUN
ajst-4781	93	10	path	path	PROPN
ajst-4781	93	11	planning	planning	NOUN
ajst-4781	93	12	and	and	CCONJ
ajst-4781	93	13	control	control	NOUN
ajst-4781	93	14	system	system	NOUN
ajst-4781	93	15	of	of	ADP
ajst-4781	93	16	underactuated	underactuated	ADJ
ajst-4781	93	17	surface	surface	NOUN
ajst-4781	93	18	vehicles	vehicle	NOUN
ajst-4781	94	1	[	[	X
ajst-4781	94	2	d	d	X
ajst-4781	94	3	]	]	X
ajst-4781	94	4	.	.	PUNCT
ajst-4781	95	1	dalian	dalian	ADJ
ajst-4781	95	2	maritime	maritime	PROPN
ajst-4781	95	3	university	university	PROPN
ajst-4781	95	4	,	,	PUNCT
ajst-4781	95	5	china	china	PROPN
ajst-4781	95	6	,	,	PUNCT
ajst-4781	95	7	2020	2020	NUM
ajst-4781	95	8	.	.	PUNCT
ajst-4781	96	1	p.	p.	NOUN
ajst-4781	96	2	62	62	NUM
ajst-4781	96	3	-	-	SYM
ajst-4781	96	4	64	64	NUM
ajst-4781	96	5	.	.	PUNCT
ajst-4781	97	1	[	[	X
ajst-4781	97	2	4	4	X
ajst-4781	97	3	]	]	PUNCT
ajst-4781	97	4	zhu	zhu	PROPN
ajst-4781	98	1	k	k	PROPN
ajst-4781	98	2	c	c	X
ajst-4781	98	3	,	,	PUNCT
ajst-4781	98	4	xu	xu	PROPN
ajst-4781	98	5	z	z	PROPN
ajst-4781	99	1	p	p	X
ajst-4781	99	2	,	,	PUNCT
ajst-4781	99	3	zhao	zhao	PROPN
ajst-4781	99	4	z	z	PROPN
ajst-4781	99	5	q	q	NOUN
ajst-4781	99	6	,	,	PUNCT
ajst-4781	99	7	et	et	PROPN
ajst-4781	99	8	al	al	PROPN
ajst-4781	99	9	.	.	PUNCT
ajst-4781	99	10	dynamic	dynamic	ADJ
ajst-4781	99	11	collision	collision	NOUN
ajst-4781	99	12	avoidance	avoidance	NOUN
ajst-4781	99	13	method	method	NOUN
ajst-4781	99	14	for	for	ADP
ajst-4781	99	15	unmanned	unmanned	ADJ
ajst-4781	99	16	surface	surface	NOUN
ajst-4781	99	17	vehicle	vehicle	NOUN
ajst-4781	99	18	based	base	VERB
ajst-4781	99	19	on	on	ADP
ajst-4781	99	20	track	track	NOUN
ajst-4781	99	21	prediction	prediction	NOUN
ajst-4781	99	22	.	.	PUNCT
ajst-4781	100	1	china	china	PROPN
ajst-4781	100	2	measurement	measurement	PROPN
ajst-4781	100	3	&	&	CCONJ
ajst-4781	100	4	test	test	PROPN
ajst-4781	100	5	.	.	PUNCT
ajst-4781	101	1	vol	vol	NOUN
ajst-4781	101	2	.	.	PUNCT
ajst-4781	102	1	47	47	NUM
ajst-4781	102	2	(	(	PUNCT
ajst-4781	102	3	2021	2021	NUM
ajst-4781	102	4	)	)	PUNCT
ajst-4781	102	5	no	no	INTJ
ajst-4781	102	6	.	.	NOUN
ajst-4781	102	7	11	11	NUM
ajst-4781	102	8	,	,	PUNCT
ajst-4781	102	9	p.	p.	NOUN
ajst-4781	102	10	28	28	NUM
ajst-4781	102	11	-	-	SYM
ajst-4781	102	12	33	33	NUM
ajst-4781	102	13	+	+	NOUN
ajst-4781	102	14	46	46	NUM
ajst-4781	102	15	.	.	PUNCT
ajst-4781	103	1	[	[	X
ajst-4781	103	2	5	5	X
ajst-4781	103	3	]	]	PUNCT
ajst-4781	103	4	wei	wei	PROPN
ajst-4781	103	5	l	l	PROPN
ajst-4781	104	1	k	k	NOUN
ajst-4781	104	2	:	:	PUNCT
ajst-4781	104	3	research	research	NOUN
ajst-4781	104	4	on	on	ADP
ajst-4781	104	5	route	route	NOUN
ajst-4781	104	6	planning	planning	NOUN
ajst-4781	104	7	technology	technology	NOUN
ajst-4781	104	8	of	of	ADP
ajst-4781	104	9	unmanned	unmanned	ADJ
ajst-4781	104	10	vessel	vessel	NOUN
ajst-4781	104	11	based	base	VERB
ajst-4781	104	12	on	on	ADP
ajst-4781	104	13	collision	collision	NOUN
ajst-4781	104	14	avoidance	avoidance	NOUN
ajst-4781	104	15	rules	rule	VERB
ajst-4781	105	1	[	[	X
ajst-4781	105	2	d	d	X
ajst-4781	105	3	]	]	X
ajst-4781	105	4	.	.	PUNCT
ajst-4781	106	1	hubei	hubei	PROPN
ajst-4781	106	2	university	university	PROPN
ajst-4781	106	3	of	of	ADP
ajst-4781	106	4	technology	technology	PROPN
ajst-4781	106	5	,	,	PUNCT
ajst-4781	106	6	china	china	PROPN
ajst-4781	106	7	,	,	PUNCT
ajst-4781	106	8	2020	2020	NUM
ajst-4781	106	9	.	.	PUNCT
ajst-4781	107	1	p.	p.	NOUN
ajst-4781	107	2	63	63	NUM
ajst-4781	107	3	-	-	SYM
ajst-4781	107	4	64	64	NUM
ajst-4781	107	5	.	.	PUNCT
ajst-4781	108	1	[	[	X
ajst-4781	108	2	6	6	NUM
ajst-4781	108	3	]	]	X
ajst-4781	108	4	cheng	cheng	PROPN
ajst-4781	108	5	q	q	NOUN
ajst-4781	108	6	:	:	PUNCT
ajst-4781	108	7	research	research	NOUN
ajst-4781	108	8	on	on	ADP
ajst-4781	108	9	environmental	environmental	ADJ
ajst-4781	108	10	mapping	mapping	NOUN
ajst-4781	108	11	and	and	CCONJ
ajst-4781	108	12	obstacle	obstacle	NOUN
ajst-4781	108	13	avoidance	avoidance	NOUN
ajst-4781	108	14	of	of	ADP
ajst-4781	108	15	unmanned	unmanned	ADJ
ajst-4781	108	16	surface	surface	NOUN
ajst-4781	108	17	vehicle	vehicle	NOUN
ajst-4781	108	18	based	base	VERB
ajst-4781	108	19	on	on	ADP
ajst-4781	108	20	lidar	lidar	NOUN
ajst-4781	109	1	[	[	X
ajst-4781	109	2	d	d	X
ajst-4781	109	3	]	]	X
ajst-4781	109	4	.	.	PUNCT
ajst-4781	110	1	huazhong	huazhong	PROPN
ajst-4781	110	2	university	university	PROPN
ajst-4781	110	3	of	of	ADP
ajst-4781	110	4	science	science	NOUN
ajst-4781	110	5	and	and	CCONJ
ajst-4781	110	6	technology	technology	NOUN
ajst-4781	110	7	,	,	PUNCT
ajst-4781	110	8	china	china	PROPN
ajst-4781	110	9	,	,	PUNCT
ajst-4781	110	10	2021	2021	NUM
ajst-4781	110	11	.	.	PUNCT
ajst-4781	111	1	p.	p.	NOUN
ajst-4781	111	2	50	50	NUM
ajst-4781	111	3	-	-	SYM
ajst-4781	111	4	58	58	NUM
ajst-4781	111	5	.	.	PUNCT
ajst-4781	112	1	[	[	X
ajst-4781	112	2	7	7	X
ajst-4781	112	3	]	]	X
ajst-4781	112	4	jiang	jiang	PROPN
ajst-4781	112	5	n	n	PROPN
ajst-4781	112	6	n	n	CCONJ
ajst-4781	112	7	,	,	PUNCT
ajst-4781	112	8	zhang	zhang	PROPN
ajst-4781	112	9	q	q	PROPN
ajst-4781	112	10	,	,	PUNCT
ajst-4781	112	11	xiang	xiang	PROPN
ajst-4781	112	12	m.	m.	NOUN
ajst-4781	112	13	construction	construction	NOUN
ajst-4781	112	14	of	of	ADP
ajst-4781	112	15	intelligent	intelligent	ADJ
ajst-4781	112	16	obstacle	obstacle	NOUN
ajst-4781	112	17	avoidance	avoidance	NOUN
ajst-4781	112	18	model	model	NOUN
ajst-4781	112	19	for	for	ADP
ajst-4781	112	20	unmanned	unmanned	ADJ
ajst-4781	112	21	vessels	vessel	NOUN
ajst-4781	112	22	based	base	VERB
ajst-4781	112	23	on	on	ADP
ajst-4781	112	24	avoidance	avoidance	NOUN
ajst-4781	112	25	knowledge	knowledge	NOUN
ajst-4781	112	26	base	base	NOUN
ajst-4781	112	27	.	.	PUNCT
ajst-4781	113	1	ship	ship	NOUN
ajst-4781	113	2	electronic	electronic	ADJ
ajst-4781	113	3	engineering	engineering	NOUN
ajst-4781	113	4	.	.	PUNCT
ajst-4781	114	1	vol	vol	NOUN
ajst-4781	114	2	.	.	PROPN
ajst-4781	115	1	39	39	NUM
ajst-4781	115	2	(	(	PUNCT
ajst-4781	115	3	2019	2019	NUM
ajst-4781	115	4	)	)	PUNCT
ajst-4781	116	1	no	no	INTJ
ajst-4781	116	2	.	.	NOUN
ajst-4781	116	3	6	6	NUM
ajst-4781	116	4	,	,	PUNCT
ajst-4781	116	5	p.	p.	NOUN
ajst-4781	116	6	106	106	NUM
ajst-4781	116	7	-	-	SYM
ajst-4781	116	8	109	109	NUM
ajst-4781	116	9	.	.	PUNCT
ajst-4781	117	1	[	[	X
ajst-4781	117	2	8	8	NUM
ajst-4781	117	3	]	]	PUNCT
ajst-4781	117	4	yu	yu	PROPN
ajst-4781	117	5	l	l	PROPN
ajst-4781	117	6	w	w	PROPN
ajst-4781	117	7	,	,	PUNCT
ajst-4781	117	8	ye	ye	PROPN
ajst-4781	117	9	x	x	NOUN
ajst-4781	117	10	,	,	PUNCT
ajst-4781	117	11	qian	qian	PROPN
ajst-4781	117	12	t	t	PROPN
ajst-4781	117	13	h.	h.	PROPN
ajst-4781	117	14	obstacle	obstacle	PROPN
ajst-4781	117	15	avoidance	avoidance	NOUN
ajst-4781	117	16	strategy	strategy	NOUN
ajst-4781	117	17	of	of	ADP
ajst-4781	117	18	autonomous	autonomous	ADJ
ajst-4781	117	19	unmanned	unmanned	ADJ
ajst-4781	117	20	watercraft	watercraft	NOUN
ajst-4781	117	21	on	on	ADP
ajst-4781	117	22	the	the	DET
ajst-4781	117	23	surface	surface	NOUN
ajst-4781	117	24	using	use	VERB
ajst-4781	117	25	heuristic	heuristic	ADJ
ajst-4781	117	26	search	search	NOUN
ajst-4781	117	27	algorithm	algorithm	NOUN
ajst-4781	117	28	.	.	PUNCT
ajst-4781	118	1	journal	journal	PROPN
ajst-4781	118	2	of	of	ADP
ajst-4781	118	3	jianghan	jianghan	PROPN
ajst-4781	118	4	university	university	PROPN
ajst-4781	118	5	natural	natural	ADJ
ajst-4781	118	6	science	science	PROPN
ajst-4781	118	7	edition	edition	PROPN
ajst-4781	118	8	.	.	PUNCT
ajst-4781	119	1	vol	vol	NOUN
ajst-4781	119	2	.	.	PROPN
ajst-4781	120	1	50	50	NUM
ajst-4781	120	2	(	(	PUNCT
ajst-4781	120	3	2022	2022	NUM
ajst-4781	120	4	)	)	PUNCT
ajst-4781	120	5	no	no	NOUN
ajst-4781	120	6	.	.	NOUN
ajst-4781	120	7	1	1	NUM
ajst-4781	120	8	,	,	PUNCT
ajst-4781	120	9	p.	p.	NOUN
ajst-4781	120	10	79	79	NUM
ajst-4781	120	11	-	-	SYM
ajst-4781	120	12	86	86	NUM
ajst-4781	120	13	.	.	PUNCT
ajst-4781	121	1	[	[	X
ajst-4781	121	2	9	9	NUM
ajst-4781	121	3	]	]	X
ajst-4781	121	4	zhao	zhao	PROPN
ajst-4781	121	5	j	j	PROPN
ajst-4781	121	6	:	:	PUNCT
ajst-4781	121	7	research	research	NOUN
ajst-4781	121	8	on	on	ADP
ajst-4781	121	9	track	track	NOUN
ajst-4781	121	10	re	re	ADJ
ajst-4781	121	11	-	-	ADJ
ajst-4781	121	12	planning	planning	ADJ
ajst-4781	121	13	technology	technology	NOUN
ajst-4781	121	14	in	in	ADP
ajst-4781	121	15	autonomousnavigation	autonomousnavigation	NOUN
ajst-4781	121	16	process	process	NOUN
ajst-4781	121	17	in	in	ADP
ajst-4781	121	18	semi	semi	ADJ
ajst-4781	121	19	-	-	ADJ
ajst-4781	121	20	structured	structured	ADJ
ajst-4781	121	21	environment	environment	NOUN
ajst-4781	122	1	[	[	X
ajst-4781	122	2	d	d	X
ajst-4781	122	3	]	]	X
ajst-4781	122	4	.	.	PUNCT
ajst-4781	123	1	shenyang	shenyang	PROPN
ajst-4781	123	2	jianzhu	jianzhu	PROPN
ajst-4781	123	3	university	university	PROPN
ajst-4781	123	4	,	,	PUNCT
ajst-4781	123	5	china	china	PROPN
ajst-4781	123	6	,	,	PUNCT
ajst-4781	123	7	2019	2019	NUM
ajst-4781	123	8	.	.	PUNCT
ajst-4781	124	1	p.	p.	NOUN
ajst-4781	124	2	51	51	NUM
ajst-4781	124	3	-	-	SYM
ajst-4781	124	4	52	52	NUM
ajst-4781	124	5	.	.	PUNCT
ajst-4781	125	1	[	[	X
ajst-4781	125	2	10	10	NUM
ajst-4781	125	3	]	]	X
ajst-4781	125	4	gao	gao	PROPN
ajst-4781	125	5	j	j	PROPN
ajst-4781	125	6	d	d	PROPN
ajst-4781	125	7	,	,	PUNCT
ajst-4781	125	8	jiao	jiao	PROPN
ajst-4781	125	9	x	x	PROPN
ajst-4781	125	10	,	,	PUNCT
ajst-4781	125	11	liu	liu	PROPN
ajst-4781	125	12	q	q	PROPN
ajst-4781	126	1	z	z	PROPN
ajst-4781	126	2	,	,	PUNCT
ajst-4781	126	3	et	et	PROPN
ajst-4781	126	4	al	al	PROPN
ajst-4781	126	5	.	.	PROPN
ajst-4781	126	6	research	research	NOUN
ajst-4781	126	7	on	on	ADP
ajst-4781	126	8	vehicle	vehicle	NOUN
ajst-4781	126	9	detection	detection	NOUN
ajst-4781	126	10	based	base	VERB
ajst-4781	126	11	on	on	ADP
ajst-4781	126	12	data	data	NOUN
ajst-4781	126	13	fusion	fusion	NOUN
ajst-4781	126	14	of	of	ADP
ajst-4781	126	15	machine	machine	NOUN
ajst-4781	126	16	vision	vision	NOUN
ajst-4781	126	17	and	and	CCONJ
ajst-4781	126	18	millimeter	millimeter	NOUN
ajst-4781	126	19	wave	wave	PROPN
ajst-4781	126	20	radar	radar	NOUN
ajst-4781	126	21	.	.	PUNCT
ajst-4781	127	1	china	china	PROPN
ajst-4781	127	2	measurement	measurement	PROPN
ajst-4781	127	3	&	&	CCONJ
ajst-4781	127	4	test	test	PROPN
ajst-4781	127	5	.	.	PUNCT
ajst-4781	128	1	vol	vol	NOUN
ajst-4781	128	2	.	.	PUNCT
ajst-4781	129	1	47	47	NUM
ajst-4781	129	2	(	(	PUNCT
ajst-4781	129	3	2021	2021	NUM
ajst-4781	129	4	)	)	PUNCT
ajst-4781	129	5	no	no	INTJ
ajst-4781	129	6	.	.	NOUN
ajst-4781	129	7	10	10	NUM
ajst-4781	129	8	,	,	PUNCT
ajst-4781	129	9	p.	p.	NOUN
ajst-4781	129	10	33	33	NUM
ajst-4781	129	11	-	-	SYM
ajst-4781	129	12	40	40	NUM
ajst-4781	129	13	.	.	PUNCT