id	sid	tid	token	lemma	pos
ajst-5056	1	1	academic	academic	ADJ
ajst-5056	1	2	journal	journal	NOUN
ajst-5056	1	3	of	of	ADP
ajst-5056	1	4	science	science	NOUN
ajst-5056	1	5	and	and	CCONJ
ajst-5056	1	6	technology	technology	NOUN
ajst-5056	1	7	issn	issn	NOUN
ajst-5056	1	8	:	:	PUNCT
ajst-5056	1	9	2771	2771	NUM
ajst-5056	1	10	-	-	SYM
ajst-5056	1	11	3032	3032	NUM
ajst-5056	1	12	|	|	NOUN
ajst-5056	1	13	vol	vol	NOUN
ajst-5056	1	14	.	.	PROPN
ajst-5056	2	1	4	4	NUM
ajst-5056	2	2	,	,	PUNCT
ajst-5056	2	3	no	no	INTJ
ajst-5056	2	4	.	.	NOUN
ajst-5056	2	5	3	3	NUM
ajst-5056	2	6	,	,	PUNCT
ajst-5056	2	7	2022	2022	NUM
ajst-5056	2	8	187	187	NUM
ajst-5056	2	9	path	path	NOUN
ajst-5056	2	10	planning	planning	NOUN
ajst-5056	2	11	and	and	CCONJ
ajst-5056	2	12	parameter	parameter	NOUN
ajst-5056	2	13	adjustment	adjustment	PROPN
ajst-5056	2	14	jiaqi	jiaqi	PROPN
ajst-5056	2	15	cui	cui	PROPN
ajst-5056	2	16	*	*	PROPN
ajst-5056	2	17	school	school	NOUN
ajst-5056	2	18	of	of	ADP
ajst-5056	2	19	electrical	electrical	ADJ
ajst-5056	2	20	and	and	CCONJ
ajst-5056	2	21	control	control	NOUN
ajst-5056	2	22	engineering	engineering	NOUN
ajst-5056	2	23	of	of	ADP
ajst-5056	2	24	north	north	PROPN
ajst-5056	2	25	china	china	PROPN
ajst-5056	2	26	university	university	PROPN
ajst-5056	2	27	of	of	ADP
ajst-5056	2	28	technology	technology	PROPN
ajst-5056	2	29	,	,	PUNCT
ajst-5056	2	30	beijing	beijing	PROPN
ajst-5056	2	31	,	,	PUNCT
ajst-5056	2	32	china	china	PROPN
ajst-5056	2	33	*	*	PUNCT
ajst-5056	2	34	corresponding	correspond	VERB
ajst-5056	2	35	author	author	NOUN
ajst-5056	2	36	:	:	PUNCT
ajst-5056	2	37	c2324360198@163.com	c2324360198@163.com	X
ajst-5056	2	38	abstract	abstract	NOUN
ajst-5056	2	39	:	:	PUNCT
ajst-5056	2	40	by	by	ADP
ajst-5056	2	41	building	build	VERB
ajst-5056	2	42	ros	ros	PROPN
ajst-5056	2	43	and	and	CCONJ
ajst-5056	2	44	gazebo	gazebo	PROPN
ajst-5056	2	45	simulation	simulation	PROPN
ajst-5056	2	46	environment	environment	NOUN
ajst-5056	2	47	in	in	ADP
ajst-5056	2	48	virtual	virtual	ADJ
ajst-5056	2	49	machine	machine	NOUN
ajst-5056	2	50	,	,	PUNCT
ajst-5056	2	51	path	path	NOUN
ajst-5056	2	52	planning	planning	NOUN
ajst-5056	2	53	,	,	PUNCT
ajst-5056	2	54	navigation	navigation	NOUN
ajst-5056	2	55	,	,	PUNCT
ajst-5056	2	56	positioning	positioning	NOUN
ajst-5056	2	57	and	and	CCONJ
ajst-5056	2	58	slam	slam	NOUN
ajst-5056	2	59	mapping	mapping	NOUN
ajst-5056	2	60	were	be	AUX
ajst-5056	2	61	carried	carry	VERB
ajst-5056	2	62	out	out	ADP
ajst-5056	2	63	for	for	ADP
ajst-5056	2	64	ackerman	ackerman	PROPN
ajst-5056	2	65	chassis	chassis	NOUN
ajst-5056	2	66	car	car	NOUN
ajst-5056	2	67	,	,	PUNCT
ajst-5056	2	68	and	and	CCONJ
ajst-5056	2	69	traffic	traffic	NOUN
ajst-5056	2	70	sign	sign	NOUN
ajst-5056	2	71	recognition	recognition	NOUN
ajst-5056	2	72	and	and	CCONJ
ajst-5056	2	73	lane	lane	NOUN
ajst-5056	2	74	line	line	NOUN
ajst-5056	2	75	detection	detection	NOUN
ajst-5056	2	76	were	be	AUX
ajst-5056	2	77	completed	complete	VERB
ajst-5056	2	78	by	by	ADP
ajst-5056	2	79	combining	combine	VERB
ajst-5056	2	80	machine	machine	NOUN
ajst-5056	2	81	vision	vision	NOUN
ajst-5056	2	82	,	,	PUNCT
ajst-5056	2	83	so	so	SCONJ
ajst-5056	2	84	as	as	SCONJ
ajst-5056	2	85	to	to	PART
ajst-5056	2	86	control	control	VERB
ajst-5056	2	87	the	the	DET
ajst-5056	2	88	intelligent	intelligent	ADJ
ajst-5056	2	89	car	car	NOUN
ajst-5056	2	90	's	's	PART
ajst-5056	2	91	turning	turning	NOUN
ajst-5056	2	92	.	.	PUNCT
ajst-5056	3	1	test	test	VERB
ajst-5056	3	2	the	the	DET
ajst-5056	3	3	navigation	navigation	NOUN
ajst-5056	3	4	parameters	parameter	NOUN
ajst-5056	3	5	with	with	ADP
ajst-5056	3	6	teb	teb	PROPN
ajst-5056	3	7	plug	plug	NOUN
ajst-5056	3	8	-	-	PUNCT
ajst-5056	3	9	in	in	NOUN
ajst-5056	3	10	to	to	PART
ajst-5056	3	11	obtain	obtain	VERB
ajst-5056	3	12	the	the	DET
ajst-5056	3	13	best	good	ADJ
ajst-5056	3	14	parameters	parameter	NOUN
ajst-5056	3	15	.	.	PUNCT
ajst-5056	4	1	after	after	ADP
ajst-5056	4	2	testing	testing	NOUN
ajst-5056	4	3	,	,	PUNCT
ajst-5056	4	4	the	the	DET
ajst-5056	4	5	navigation	navigation	NOUN
ajst-5056	4	6	effect	effect	NOUN
ajst-5056	4	7	is	be	AUX
ajst-5056	4	8	ideal	ideal	ADJ
ajst-5056	4	9	,	,	PUNCT
ajst-5056	4	10	with	with	ADP
ajst-5056	4	11	reliability	reliability	NOUN
ajst-5056	4	12	and	and	CCONJ
ajst-5056	4	13	accuracy	accuracy	NOUN
ajst-5056	4	14	.	.	PUNCT
ajst-5056	5	1	keywords	keyword	NOUN
ajst-5056	5	2	:	:	PUNCT
ajst-5056	5	3	teb	teb	PROPN
ajst-5056	5	4	,	,	PUNCT
ajst-5056	5	5	yolov5	yolov5	PROPN
ajst-5056	5	6	,	,	PUNCT
ajst-5056	5	7	opencv	opencv	PROPN
ajst-5056	5	8	,	,	PUNCT
ajst-5056	5	9	dwa	dwa	PROPN
ajst-5056	5	10	,	,	PUNCT
ajst-5056	5	11	slam	slam	PROPN
ajst-5056	5	12	,	,	PUNCT
ajst-5056	5	13	ros	ros	PROPN
ajst-5056	5	14	,	,	PUNCT
ajst-5056	5	15	gazebo	gazebo	PROPN
ajst-5056	5	16	.	.	PUNCT
ajst-5056	6	1	1	1	X
ajst-5056	6	2	.	.	PUNCT
ajst-5056	6	3	ros	ros	PROPN
ajst-5056	6	4	figure	figure	NOUN
ajst-5056	6	5	1	1	NUM
ajst-5056	6	6	.	.	NOUN
ajst-5056	6	7	subscribe	subscribe	NOUN
ajst-5056	6	8	and	and	CCONJ
ajst-5056	6	9	publish	publish	VERB
ajst-5056	6	10	(	(	PUNCT
ajst-5056	6	11	1	1	NUM
ajst-5056	6	12	)	)	PUNCT
ajst-5056	6	13	subscribe	subscribe	VERB
ajst-5056	6	14	message	message	NOUN
ajst-5056	6	15	:	:	PUNCT
ajst-5056	6	16	•	•	NOUN
ajst-5056	6	17	initialize	initialize	VERB
ajst-5056	6	18	the	the	DET
ajst-5056	6	19	ros	ros	PROPN
ajst-5056	6	20	system	system	NOUN
ajst-5056	6	21	•	•	NOUN
ajst-5056	6	22	subscribe	subscribe	VERB
ajst-5056	6	23	to	to	PART
ajst-5056	6	24	chatter	chatter	VERB
ajst-5056	6	25	•	•	NOUN
ajst-5056	6	26	enter	enter	VERB
ajst-5056	6	27	the	the	DET
ajst-5056	6	28	self	self	NOUN
ajst-5056	6	29	-	-	PUNCT
ajst-5056	6	30	loop	loop	NOUN
ajst-5056	6	31	and	and	CCONJ
ajst-5056	6	32	wait	wait	VERB
ajst-5056	6	33	for	for	SCONJ
ajst-5056	6	34	the	the	DET
ajst-5056	6	35	message	message	NOUN
ajst-5056	6	36	to	to	PART
ajst-5056	6	37	arrive	arrive	VERB
ajst-5056	6	38	•	•	ADP
ajst-5056	6	39	the	the	DET
ajst-5056	6	40	chattercallback	chattercallback	NOUN
ajst-5056	6	41	(	(	PUNCT
ajst-5056	6	42	)	)	PUNCT
ajst-5056	6	43	function	function	NOUN
ajst-5056	6	44	is	be	AUX
ajst-5056	6	45	called	call	VERB
ajst-5056	6	46	when	when	SCONJ
ajst-5056	6	47	the	the	DET
ajst-5056	6	48	message	message	NOUN
ajst-5056	6	49	arrives	arrive	VERB
ajst-5056	6	50	(	(	PUNCT
ajst-5056	6	51	2	2	NUM
ajst-5056	6	52	)	)	PUNCT
ajst-5056	6	53	release	release	NOUN
ajst-5056	6	54	information	information	NOUN
ajst-5056	6	55	:	:	PUNCT
ajst-5056	6	56	•	•	ADP
ajst-5056	6	57	initialize	initialize	VERB
ajst-5056	6	58	ros	ros	PROPN
ajst-5056	6	59	nodes	node	NOUN
ajst-5056	6	60	:	:	PUNCT
ajst-5056	6	61	naming	name	VERB
ajst-5056	6	62	(	(	PUNCT
ajst-5056	6	63	unique	unique	ADJ
ajst-5056	6	64	)	)	PUNCT
ajst-5056	7	1	•	•	NOUN
ajst-5056	7	2	instantiate	instantiate	VERB
ajst-5056	7	3	the	the	DET
ajst-5056	7	4	publisher	publisher	NOUN
ajst-5056	7	5	object	object	VERB
ajst-5056	7	6	•	•	NOUN
ajst-5056	7	7	organize	organize	VERB
ajst-5056	7	8	the	the	DET
ajst-5056	7	9	published	publish	VERB
ajst-5056	7	10	data	datum	NOUN
ajst-5056	7	11	and	and	CCONJ
ajst-5056	7	12	write	write	VERB
ajst-5056	7	13	the	the	DET
ajst-5056	7	14	logic	logic	NOUN
ajst-5056	7	15	to	to	PART
ajst-5056	7	16	publish	publish	VERB
ajst-5056	7	17	the	the	DET
ajst-5056	7	18	data	datum	NOUN
ajst-5056	7	19	.	.	PUNCT
ajst-5056	8	1	2	2	X
ajst-5056	8	2	.	.	NOUN
ajst-5056	8	3	path	path	NOUN
ajst-5056	8	4	planning	planning	NOUN
ajst-5056	8	5	figure	figure	NOUN
ajst-5056	8	6	2	2	NUM
ajst-5056	8	7	.	.	NOUN
ajst-5056	8	8	launch	launch	NOUN
ajst-5056	8	9	file	file	NOUN
ajst-5056	8	10	path	path	NOUN
ajst-5056	8	11	planning	planning	NOUN
ajst-5056	8	12	includes	include	VERB
ajst-5056	8	13	global	global	ADJ
ajst-5056	8	14	path	path	NOUN
ajst-5056	8	15	planning	planning	PROPN
ajst-5056	8	16	and	and	CCONJ
ajst-5056	8	17	local	local	ADJ
ajst-5056	8	18	path	path	NOUN
ajst-5056	8	19	planning	planning	NOUN
ajst-5056	8	20	.	.	PUNCT
ajst-5056	9	1	global	global	ADJ
ajst-5056	9	2	path	path	PROPN
ajst-5056	9	3	planning	plan	VERB
ajst-5056	9	4	the	the	DET
ajst-5056	9	5	global	global	ADJ
ajst-5056	9	6	path	path	NOUN
ajst-5056	9	7	is	be	AUX
ajst-5056	9	8	planned	plan	VERB
ajst-5056	9	9	according	accord	VERB
ajst-5056	9	10	to	to	ADP
ajst-5056	9	11	the	the	DET
ajst-5056	9	12	given	give	VERB
ajst-5056	9	13	target	target	NOUN
ajst-5056	9	14	final	final	ADJ
ajst-5056	9	15	location	location	NOUN
ajst-5056	9	16	and	and	CCONJ
ajst-5056	9	17	starting	starting	NOUN
ajst-5056	9	18	point	point	NOUN
ajst-5056	9	19	.	.	PUNCT
ajst-5056	10	1	use	use	VERB
ajst-5056	10	2	the	the	DET
ajst-5056	10	3	a	a	PROPN
ajst-5056	10	4	*	*	NOUN
ajst-5056	10	5	algorithm	algorithm	NOUN
ajst-5056	10	6	.	.	PUNCT
ajst-5056	11	1	the	the	DET
ajst-5056	11	2	local	local	ADJ
ajst-5056	11	3	planner	planner	NOUN
ajst-5056	11	4	:	:	PUNCT
ajst-5056	11	5	planned	plan	VERB
ajst-5056	11	6	escape	escape	NOUN
ajst-5056	11	7	routes	route	NOUN
ajst-5056	11	8	based	base	VERB
ajst-5056	11	9	on	on	ADP
ajst-5056	11	10	nearby	nearby	ADJ
ajst-5056	11	11	obstacles	obstacle	NOUN
ajst-5056	11	12	.	.	PUNCT
ajst-5056	12	1	in	in	ADP
ajst-5056	12	2	addition	addition	NOUN
ajst-5056	12	3	to	to	ADP
ajst-5056	12	4	dwa	dwa	PROPN
ajst-5056	12	5	algorithm	algorithm	PROPN
ajst-5056	12	6	,	,	PUNCT
ajst-5056	12	7	there	there	PRON
ajst-5056	12	8	is	be	VERB
ajst-5056	12	9	a	a	DET
ajst-5056	12	10	more	more	ADV
ajst-5056	12	11	suitable	suitable	ADJ
ajst-5056	12	12	algorithm	algorithm	NOUN
ajst-5056	12	13	for	for	ADP
ajst-5056	12	14	robots	robot	NOUN
ajst-5056	12	15	on	on	ADP
ajst-5056	12	16	the	the	DET
ajst-5056	12	17	chassis	chassis	NOUN
ajst-5056	12	18	of	of	ADP
ajst-5056	12	19	ackerman	ackerman	PROPN
ajst-5056	12	20	model	model	PROPN
ajst-5056	12	21	,	,	PUNCT
ajst-5056	12	22	teb	teb	PROPN
ajst-5056	12	23	algorithm	algorithm	NOUN
ajst-5056	12	24	.	.	PUNCT
ajst-5056	13	1	3	3	X
ajst-5056	13	2	.	.	X
ajst-5056	13	3	teb	teb	PROPN
ajst-5056	13	4	and	and	CCONJ
ajst-5056	13	5	ackermann	ackermann	PROPN
ajst-5056	13	6	model	model	PROPN
ajst-5056	13	7	figure	figure	NOUN
ajst-5056	13	8	3	3	NUM
ajst-5056	13	9	.	.	NOUN
ajst-5056	13	10	route	route	NOUN
ajst-5056	13	11	planning	planning	NOUN
ajst-5056	13	12	effect	effect	NOUN
ajst-5056	13	13	display	display	NOUN
ajst-5056	13	14	rubber	rubber	NOUN
ajst-5056	13	15	band	band	NOUN
ajst-5056	13	16	theory	theory	NOUN
ajst-5056	13	17	:	:	PUNCT
ajst-5056	13	18	the	the	DET
ajst-5056	13	19	state	state	NOUN
ajst-5056	13	20	of	of	ADP
ajst-5056	13	21	the	the	DET
ajst-5056	13	22	starting	starting	NOUN
ajst-5056	13	23	point	point	NOUN
ajst-5056	13	24	and	and	CCONJ
ajst-5056	13	25	target	target	NOUN
ajst-5056	13	26	point	point	NOUN
ajst-5056	13	27	is	be	AUX
ajst-5056	13	28	obtained	obtain	VERB
ajst-5056	13	29	from	from	ADP
ajst-5056	13	30	the	the	DET
ajst-5056	13	31	global	global	ADJ
ajst-5056	13	32	planner	planner	NOUN
ajst-5056	13	33	.	.	PUNCT
ajst-5056	14	1	in	in	ADP
ajst-5056	14	2	the	the	DET
ajst-5056	14	3	middle	middle	NOUN
ajst-5056	14	4	,	,	PUNCT
ajst-5056	14	5	n	n	DET
ajst-5056	14	6	control	control	NOUN
ajst-5056	14	7	points	point	NOUN
ajst-5056	14	8	are	be	AUX
ajst-5056	14	9	inserted	insert	VERB
ajst-5056	14	10	to	to	PART
ajst-5056	14	11	control	control	VERB
ajst-5056	14	12	the	the	DET
ajst-5056	14	13	shape	shape	NOUN
ajst-5056	14	14	of	of	ADP
ajst-5056	14	15	the	the	DET
ajst-5056	14	16	rubber	rubber	NOUN
ajst-5056	14	17	band	band	NOUN
ajst-5056	14	18	.	.	PUNCT
ajst-5056	15	1	in	in	ADP
ajst-5056	15	2	order	order	NOUN
ajst-5056	15	3	to	to	PART
ajst-5056	15	4	display	display	VERB
ajst-5056	15	5	the	the	DET
ajst-5056	15	6	kinematic	kinematic	ADJ
ajst-5056	15	7	information	information	NOUN
ajst-5056	15	8	of	of	ADP
ajst-5056	15	9	the	the	DET
ajst-5056	15	10	trajectory	trajectory	NOUN
ajst-5056	15	11	,	,	PUNCT
ajst-5056	15	12	the	the	DET
ajst-5056	15	13	motion	motion	NOUN
ajst-5056	15	14	time	time	NOUN
ajst-5056	15	15	time	time	NOUN
ajst-5056	15	16	is	be	AUX
ajst-5056	15	17	defined	define	VERB
ajst-5056	15	18	between	between	ADP
ajst-5056	15	19	points	point	NOUN
ajst-5056	15	20	.	.	PUNCT
ajst-5056	16	1	among	among	ADP
ajst-5056	16	2	them	they	PRON
ajst-5056	16	3	,	,	PUNCT
ajst-5056	16	4	the	the	DET
ajst-5056	16	5	location	location	NOUN
ajst-5056	16	6	of	of	ADP
ajst-5056	16	7	robot	robot	NOUN
ajst-5056	16	8	footprint	footprint	NOUN
ajst-5056	16	9	model	model	NOUN
ajst-5056	16	10	,	,	PUNCT
ajst-5056	16	11	the	the	DET
ajst-5056	16	12	current	current	ADJ
ajst-5056	16	13	goal	goal	NOUN
ajst-5056	16	14	of	of	ADP
ajst-5056	16	15	the	the	DET
ajst-5056	16	16	target	target	NOUN
ajst-5056	16	17	point	point	NOUN
ajst-5056	16	18	of	of	ADP
ajst-5056	16	19	the	the	DET
ajst-5056	16	20	car	car	NOUN
ajst-5056	16	21	and	and	CCONJ
ajst-5056	16	22	the	the	DET
ajst-5056	16	23	black	black	ADJ
ajst-5056	16	24	path	path	NOUN
ajst-5056	16	25	are	be	AUX
ajst-5056	16	26	obtained	obtain	VERB
ajst-5056	16	27	from	from	ADP
ajst-5056	16	28	the	the	DET
ajst-5056	16	29	global	global	ADJ
ajst-5056	16	30	path	path	NOUN
ajst-5056	16	31	.	.	PUNCT
ajst-5056	17	1	n	n	PRON
ajst-5056	17	2	control	control	NOUN
ajst-5056	17	3	points	point	NOUN
ajst-5056	17	4	are	be	AUX
ajst-5056	17	5	inserted	insert	VERB
ajst-5056	17	6	in	in	ADP
ajst-5056	17	7	the	the	DET
ajst-5056	17	8	middle	middle	NOUN
ajst-5056	17	9	.	.	PUNCT
ajst-5056	18	1	the	the	DET
ajst-5056	18	2	contents	content	NOUN
ajst-5056	18	3	of	of	ADP
ajst-5056	18	4	these	these	DET
ajst-5056	18	5	points	point	NOUN
ajst-5056	18	6	are	be	AUX
ajst-5056	18	7	the	the	DET
ajst-5056	18	8	pose	pose	NOUN
ajst-5056	18	9	of	of	ADP
ajst-5056	18	10	the	the	DET
ajst-5056	18	11	robot	robot	NOUN
ajst-5056	18	12	,	,	PUNCT
ajst-5056	18	13	including	include	VERB
ajst-5056	18	14	x	x	SYM
ajst-5056	18	15	coordinate	coordinate	NOUN
ajst-5056	18	16	and	and	CCONJ
ajst-5056	18	17	y	y	NOUN
ajst-5056	18	18	coordinate	coordinate	NOUN
ajst-5056	18	19	and	and	CCONJ
ajst-5056	18	20	the	the	DET
ajst-5056	18	21	heading	head	VERB
ajst-5056	18	22	information	information	NOUN
ajst-5056	18	23	of	of	ADP
ajst-5056	18	24	the	the	DET
ajst-5056	18	25	car	car	NOUN
ajst-5056	18	26	.	.	PUNCT
ajst-5056	19	1	each	each	DET
ajst-5056	19	2	point	point	NOUN
ajst-5056	19	3	is	be	AUX
ajst-5056	19	4	directly	directly	ADV
ajst-5056	19	5	equal	equal	ADJ
ajst-5056	19	6	in	in	ADP
ajst-5056	19	7	time	time	NOUN
ajst-5056	19	8	.	.	PUNCT
ajst-5056	20	1	from	from	ADP
ajst-5056	20	2	the	the	DET
ajst-5056	20	3	above	above	ADJ
ajst-5056	20	4	information	information	NOUN
ajst-5056	20	5	,	,	PUNCT
ajst-5056	20	6	the	the	DET
ajst-5056	20	7	velocity	velocity	NOUN
ajst-5056	20	8	of	of	ADP
ajst-5056	20	9	the	the	DET
ajst-5056	20	10	car	car	NOUN
ajst-5056	20	11	in	in	ADP
ajst-5056	20	12	a	a	DET
ajst-5056	20	13	short	short	ADJ
ajst-5056	20	14	distance	distance	NOUN
ajst-5056	20	15	can	can	AUX
ajst-5056	20	16	be	be	AUX
ajst-5056	20	17	calculated	calculate	VERB
ajst-5056	20	18	.	.	PUNCT
ajst-5056	21	1	after	after	ADP
ajst-5056	21	2	differentiating	differentiate	VERB
ajst-5056	21	3	,	,	PUNCT
ajst-5056	21	4	the	the	DET
ajst-5056	21	5	acceleration	acceleration	NOUN
ajst-5056	21	6	can	can	AUX
ajst-5056	21	7	be	be	AUX
ajst-5056	21	8	obtained	obtain	VERB
ajst-5056	21	9	,	,	PUNCT
ajst-5056	21	10	as	as	ADV
ajst-5056	21	11	well	well	ADV
ajst-5056	21	12	as	as	ADP
ajst-5056	21	13	the	the	DET
ajst-5056	21	14	angle	angle	NOUN
ajst-5056	21	15	and	and	CCONJ
ajst-5056	21	16	angular	angular	ADJ
ajst-5056	21	17	velocity	velocity	NOUN
ajst-5056	21	18	.	.	PUNCT
ajst-5056	22	1	deformation	deformation	NOUN
ajst-5056	22	2	of	of	ADP
ajst-5056	22	3	rubber	rubber	NOUN
ajst-5056	22	4	bands	band	NOUN
ajst-5056	22	5	refers	refer	VERB
ajst-5056	22	6	to	to	ADP
ajst-5056	22	7	obstacles	obstacle	NOUN
ajst-5056	22	8	.	.	PUNCT
ajst-5056	23	1	when	when	SCONJ
ajst-5056	23	2	obstacles	obstacle	NOUN
ajst-5056	23	3	are	be	AUX
ajst-5056	23	4	moved	move	VERB
ajst-5056	23	5	,	,	PUNCT
ajst-5056	23	6	the	the	DET
ajst-5056	23	7	dist1	dist1	PROPN
ajst-5056	23	8	-	-	PUNCT
ajst-5056	23	9	dist3	dist3	NOUN
ajst-5056	23	10	changes	change	NOUN
ajst-5056	23	11	.	.	PUNCT
ajst-5056	24	1	in	in	ADP
ajst-5056	24	2	order	order	NOUN
ajst-5056	24	3	to	to	PART
ajst-5056	24	4	maintain	maintain	VERB
ajst-5056	24	5	the	the	DET
ajst-5056	24	6	original	original	ADJ
ajst-5056	24	7	state	state	NOUN
ajst-5056	24	8	,	,	PUNCT
ajst-5056	24	9	the	the	DET
ajst-5056	24	10	path	path	NOUN
ajst-5056	24	11	changes	change	NOUN
ajst-5056	24	12	,	,	PUNCT
ajst-5056	24	13	just	just	ADV
ajst-5056	24	14	like	like	ADP
ajst-5056	24	15	when	when	SCONJ
ajst-5056	24	16	rubber	rubber	NOUN
ajst-5056	24	17	bands	band	NOUN
ajst-5056	24	18	are	be	AUX
ajst-5056	24	19	deformed	deform	VERB
ajst-5056	24	20	by	by	ADP
ajst-5056	24	21	external	external	ADJ
ajst-5056	24	22	forces	force	NOUN
ajst-5056	24	23	.	.	PUNCT
ajst-5056	25	1	there	there	PRON
ajst-5056	25	2	are	be	VERB
ajst-5056	25	3	also	also	ADV
ajst-5056	25	4	forces	force	NOUN
ajst-5056	25	5	between	between	ADP
ajst-5056	25	6	adjacent	adjacent	ADJ
ajst-5056	25	7	points	point	NOUN
ajst-5056	25	8	.	.	PUNCT
ajst-5056	26	1	4	4	X
ajst-5056	26	2	.	.	X
ajst-5056	26	3	parameter	parameter	NOUN
ajst-5056	26	4	adjustment	adjustment	NOUN
ajst-5056	26	5	①	①	NUM
ajst-5056	26	6	max_global_plan_lookahead_dist	max_global_plan_lookahead_dist	NOUN
ajst-5056	26	7	:	:	PUNCT
ajst-5056	26	8	consider	consider	VERB
ajst-5056	26	9	the	the	DET
ajst-5056	26	10	maximum	maximum	ADJ
ajst-5056	26	11	length	length	NOUN
ajst-5056	26	12	of	of	ADP
ajst-5056	26	13	the	the	DET
ajst-5056	26	14	optimized	optimize	VERB
ajst-5056	26	15	subset	subset	NOUN
ajst-5056	26	16	of	of	ADP
ajst-5056	26	17	the	the	DET
ajst-5056	26	18	global	global	ADJ
ajst-5056	26	19	plan	plan	NOUN
ajst-5056	26	20	②	②	NUM
ajst-5056	26	21	min_obstacle_dist	min_obstacle_dist	NOUN
ajst-5056	26	22	:	:	PUNCT
ajst-5056	26	23	indicates	indicate	VERB
ajst-5056	26	24	the	the	DET
ajst-5056	26	25	minimum	minimum	ADJ
ajst-5056	26	26	distance	distance	NOUN
ajst-5056	26	27	between	between	ADP
ajst-5056	26	28	an	an	DET
ajst-5056	26	29	obstacle_dist	obstacle_dist	PROPN
ajst-5056	26	30	and	and	CCONJ
ajst-5056	26	31	an	an	DET
ajst-5056	26	32	obstacle	obstacle	NOUN
ajst-5056	27	1	③dt_ref	③dt_ref	PROPN
ajst-5056	27	2	:	:	PUNCT
ajst-5056	27	3	the	the	DET
ajst-5056	27	4	resolution	resolution	NOUN
ajst-5056	27	5	of	of	ADP
ajst-5056	27	6	local	local	ADJ
ajst-5056	27	7	path	path	NOUN
ajst-5056	27	8	planning	planning	NOUN
ajst-5056	27	9	,	,	PUNCT
ajst-5056	27	10	that	that	ADV
ajst-5056	27	11	is	is	ADV
ajst-5056	27	12	,	,	PUNCT
ajst-5056	27	13	the	the	DET
ajst-5056	27	14	188	188	NUM
ajst-5056	27	15	time	time	NOUN
ajst-5056	27	16	resolution	resolution	NOUN
ajst-5056	27	17	,	,	PUNCT
ajst-5056	27	18	the	the	DET
ajst-5056	27	19	time	time	NOUN
ajst-5056	27	20	between	between	ADP
ajst-5056	27	21	two	two	NUM
ajst-5056	27	22	adjacent	adjacent	ADJ
ajst-5056	27	23	poses	pose	NOUN
ajst-5056	27	24	④costmap_obstacles_behind_robot_dist	④costmap_obstacles_behind_robot_dist	NUM
ajst-5056	27	25	;	;	PUNCT
ajst-5056	27	26	when	when	SCONJ
ajst-5056	27	27	planning	plan	VERB
ajst-5056	27	28	,	,	PUNCT
ajst-5056	27	29	consider	consider	VERB
ajst-5056	27	30	obstacles	obstacle	NOUN
ajst-5056	27	31	within	within	ADP
ajst-5056	27	32	n	n	PRON
ajst-5056	27	33	meters	meter	NOUN
ajst-5056	27	34	behind	behind	ADP
ajst-5056	27	35	⑤inflation_dist	⑤inflation_dist	NOUN
ajst-5056	27	36	:	:	PUNCT
ajst-5056	27	37	buffer	buffer	VERB
ajst-5056	27	38	around	around	ADP
ajst-5056	27	39	obstacles	obstacle	NOUN
ajst-5056	27	40	figure	figure	NOUN
ajst-5056	27	41	4	4	NUM
ajst-5056	27	42	.	.	PUNCT
ajst-5056	27	43	parameter	parameter	NOUN
ajst-5056	27	44	adjustment	adjustment	NOUN
ajst-5056	27	45	roslaunch	roslaunch	VERB
ajst-5056	27	46	ucar_sim	ucar_sim	PROPN
ajst-5056	27	47	ucar_robot.launch	ucar_robot.launch	PUNCT
ajst-5056	27	48	roslaunch	roslaunch	VERB
ajst-5056	27	49	my_navigation	my_navigation	NOUN
ajst-5056	27	50	gmapping.launch	gmapping.launch	NOUN
ajst-5056	27	51	rosrun	rosrun	NOUN
ajst-5056	27	52	teleop_twist_keyboard	teleop_twist_keyboard	PROPN
ajst-5056	27	53	teleop_twist_keyboard.py	teleop_twist_keyboard.py	PROPN
ajst-5056	27	54	roslaunch	roslaunch	VERB
ajst-5056	27	55	my_navigation	my_navigation	NOUN
ajst-5056	27	56	savemap.launch	savemap.launch	PRON
ajst-5056	27	57	roslaunch	roslaunch	VERB
ajst-5056	27	58	my_navigation	my_navigation	NOUN
ajst-5056	27	59	loadmap.launch	loadmap.launch	NOUN
ajst-5056	27	60	roslaunch	roslaunch	VERB
ajst-5056	27	61	my_navigation	my_navigation	NOUN
ajst-5056	27	62	amcl.launch	amcl.launch	NOUN
ajst-5056	27	63	roslaunch	roslaunch	VERB
ajst-5056	27	64	my_navigation	my_navigation	NOUN
ajst-5056	27	65	omnidir_movebase.launch	omnidir_movebase.launch	PUNCT
ajst-5056	27	66	rosrun	rosrun	NOUN
ajst-5056	27	67	rqt_reconfigure	rqt_reconfigure	NOUN
ajst-5056	27	68	rqt_reconfigure	rqt_reconfigure	PROPN
ajst-5056	27	69	5	5	NUM
ajst-5056	27	70	.	.	PUNCT
ajst-5056	27	71	lane	lane	NOUN
ajst-5056	27	72	detection	detection	NOUN
ajst-5056	27	73	figure	figure	NOUN
ajst-5056	27	74	5	5	NUM
ajst-5056	27	75	.	.	PUNCT
ajst-5056	28	1	contour	contour	ADJ
ajst-5056	28	2	recognition	recognition	NOUN
ajst-5056	28	3	of	of	ADP
ajst-5056	28	4	lane	lane	PROPN
ajst-5056	28	5	lines	line	NOUN
ajst-5056	28	6	figure	figure	VERB
ajst-5056	28	7	6	6	NUM
ajst-5056	28	8	.	.	PUNCT
ajst-5056	28	9	center	center	NOUN
ajst-5056	28	10	coordinate	coordinate	NOUN
ajst-5056	28	11	extraction	extraction	NOUN
ajst-5056	28	12	figure	figure	NOUN
ajst-5056	28	13	7	7	NUM
ajst-5056	28	14	.	.	PUNCT
ajst-5056	28	15	lane	lane	NOUN
ajst-5056	28	16	detection	detection	PROPN
ajst-5056	28	17	effect	effect	VERB
ajst-5056	28	18	the	the	DET
ajst-5056	28	19	lane	lane	NOUN
ajst-5056	28	20	lines	line	NOUN
ajst-5056	28	21	were	be	AUX
ajst-5056	28	22	separated	separate	VERB
ajst-5056	28	23	by	by	ADP
ajst-5056	28	24	binarization	binarization	NOUN
ajst-5056	28	25	,	,	PUNCT
ajst-5056	28	26	retest	retest	ADJ
ajst-5056	28	27	expansion	expansion	NOUN
ajst-5056	28	28	,	,	PUNCT
ajst-5056	28	29	area	area	NOUN
ajst-5056	28	30	of	of	ADP
ajst-5056	28	31	interest	interest	NOUN
ajst-5056	28	32	extraction	extraction	NOUN
ajst-5056	28	33	,	,	PUNCT
ajst-5056	28	34	contour	contour	NOUN
ajst-5056	28	35	extraction	extraction	NOUN
ajst-5056	28	36	and	and	CCONJ
ajst-5056	28	37	other	other	ADJ
ajst-5056	28	38	algorithms	algorithm	NOUN
ajst-5056	28	39	.	.	PUNCT
ajst-5056	29	1	through	through	ADP
ajst-5056	29	2	the	the	DET
ajst-5056	29	3	video	video	NOUN
ajst-5056	29	4	shot	shot	NOUN
ajst-5056	29	5	by	by	ADP
ajst-5056	29	6	the	the	DET
ajst-5056	29	7	camera	camera	NOUN
ajst-5056	29	8	,	,	PUNCT
ajst-5056	29	9	the	the	DET
ajst-5056	29	10	coordinates	coordinate	NOUN
ajst-5056	29	11	of	of	ADP
ajst-5056	29	12	the	the	DET
ajst-5056	29	13	center	center	NOUN
ajst-5056	29	14	point	point	NOUN
ajst-5056	29	15	are	be	AUX
ajst-5056	29	16	accurately	accurately	ADV
ajst-5056	29	17	output	output	ADJ
ajst-5056	29	18	,	,	PUNCT
ajst-5056	29	19	and	and	CCONJ
ajst-5056	29	20	the	the	DET
ajst-5056	29	21	error	error	NOUN
ajst-5056	29	22	rate	rate	NOUN
ajst-5056	29	23	is	be	AUX
ajst-5056	29	24	0.17	0.17	NUM
ajst-5056	29	25	%	%	NOUN
ajst-5056	29	26	.	.	PUNCT
ajst-5056	30	1	6	6	X
ajst-5056	30	2	.	.	X
ajst-5056	30	3	traffic	traffic	NOUN
ajst-5056	30	4	signs	sign	NOUN
ajst-5056	30	5	detect	detect	VERB
ajst-5056	30	6	and	and	CCONJ
ajst-5056	30	7	control	control	NOUN
ajst-5056	30	8	turning	turn	VERB
ajst-5056	30	9	figure	figure	NOUN
ajst-5056	30	10	8	8	NUM
ajst-5056	30	11	.	.	PUNCT
ajst-5056	31	1	ros	ros	PROPN
ajst-5056	31	2	publishing	publish	VERB
ajst-5056	31	3	function	function	NOUN
ajst-5056	31	4	figure	figure	NOUN
ajst-5056	31	5	9	9	NUM
ajst-5056	31	6	.	.	PUNCT
ajst-5056	31	7	turn	turn	VERB
ajst-5056	31	8	right	right	ADJ
ajst-5056	31	9	figure	figure	NOUN
ajst-5056	31	10	10	10	NUM
ajst-5056	31	11	.	.	PUNCT
ajst-5056	32	1	turn	turn	NOUN
ajst-5056	32	2	left	leave	VERB
ajst-5056	32	3	open	open	ADJ
ajst-5056	32	4	the	the	DET
ajst-5056	32	5	camera	camera	NOUN
ajst-5056	32	6	in	in	ADP
ajst-5056	32	7	the	the	DET
ajst-5056	32	8	virtual	virtual	ADJ
ajst-5056	32	9	machine	machine	NOUN
ajst-5056	32	10	,	,	PUNCT
ajst-5056	32	11	publish	publish	VERB
ajst-5056	32	12	the	the	DET
ajst-5056	32	13	information	information	NOUN
ajst-5056	32	14	identified	identify	VERB
ajst-5056	32	15	by	by	ADP
ajst-5056	32	16	yolov5	yolov5	NOUN
ajst-5056	32	17	in	in	ADP
ajst-5056	32	18	combination	combination	NOUN
ajst-5056	32	19	with	with	ADP
ajst-5056	32	20	the	the	DET
ajst-5056	32	21	subscription	subscription	NOUN
ajst-5056	32	22	and	and	CCONJ
ajst-5056	32	23	publication	publication	NOUN
ajst-5056	32	24	function	function	NOUN
ajst-5056	32	25	of	of	ADP
ajst-5056	32	26	ros	ros	PROPN
ajst-5056	32	27	,	,	PUNCT
ajst-5056	32	28	and	and	CCONJ
ajst-5056	32	29	control	control	VERB
ajst-5056	32	30	the	the	DET
ajst-5056	32	31	turning	turning	NOUN
ajst-5056	32	32	of	of	ADP
ajst-5056	32	33	the	the	DET
ajst-5056	32	34	intelligent	intelligent	ADJ
ajst-5056	32	35	car	car	NOUN
ajst-5056	32	36	.	.	PUNCT
ajst-5056	33	1	when	when	SCONJ
ajst-5056	33	2	a	a	DET
ajst-5056	33	3	detected	detect	VERB
ajst-5056	33	4	traffic	traffic	NOUN
ajst-5056	33	5	sign	sign	NOUN
ajst-5056	33	6	turns	turn	VERB
ajst-5056	33	7	left	leave	VERB
ajst-5056	33	8	,	,	PUNCT
ajst-5056	33	9	it	it	PRON
ajst-5056	33	10	makes	make	VERB
ajst-5056	33	11	a	a	DET
ajst-5056	33	12	successful	successful	ADJ
ajst-5056	33	13	left	left	NOUN
ajst-5056	33	14	turn	turn	NOUN
ajst-5056	33	15	,	,	PUNCT
ajst-5056	33	16	with	with	ADP
ajst-5056	33	17	an	an	DET
ajst-5056	33	18	accuracy	accuracy	NOUN
ajst-5056	33	19	of	of	ADP
ajst-5056	33	20	90	90	NUM
ajst-5056	33	21	percent	percent	NOUN
ajst-5056	33	22	.	.	PUNCT
ajst-5056	34	1	table	table	NOUN
ajst-5056	34	2	1	1	NUM
ajst-5056	34	3	.	.	PUNCT
ajst-5056	34	4	identification	identification	NOUN
ajst-5056	34	5	accuracy	accuracy	NOUN
ajst-5056	34	6	1	1	NUM
ajst-5056	34	7	2	2	NUM
ajst-5056	34	8	3	3	NUM
ajst-5056	34	9	4	4	NUM
ajst-5056	34	10	5	5	NUM
ajst-5056	34	11	6	6	NUM
ajst-5056	34	12	7	7	NUM
ajst-5056	34	13	left	leave	VERB
ajst-5056	34	14	91	91	NUM
ajst-5056	34	15	%	%	NOUN
ajst-5056	34	16	97	97	NUM
ajst-5056	34	17	%	%	NOUN
ajst-5056	34	18	95	95	NUM
ajst-5056	34	19	%	%	NOUN
ajst-5056	34	20	93	93	NUM
ajst-5056	34	21	%	%	NOUN
ajst-5056	34	22	92	92	NUM
ajst-5056	34	23	%	%	NOUN
ajst-5056	34	24	97	97	NUM
ajst-5056	34	25	%	%	NOUN
ajst-5056	34	26	90	90	NUM
ajst-5056	34	27	%	%	NOUN
ajst-5056	34	28	right	right	ADJ
ajst-5056	34	29	91	91	NUM
ajst-5056	34	30	%	%	NOUN
ajst-5056	34	31	92	92	NUM
ajst-5056	34	32	%	%	NOUN
ajst-5056	34	33	97	97	NUM
ajst-5056	34	34	%	%	NOUN
ajst-5056	34	35	90	90	NUM
ajst-5056	34	36	%	%	NOUN
ajst-5056	34	37	97	97	NUM
ajst-5056	34	38	%	%	NOUN
ajst-5056	34	39	90	90	NUM
ajst-5056	34	40	%	%	NOUN
ajst-5056	34	41	88	88	NUM
ajst-5056	34	42	%	%	NOUN
ajst-5056	34	43	back	back	ADV
ajst-5056	34	44	91	91	NUM
ajst-5056	34	45	%	%	NOUN
ajst-5056	34	46	97	97	NUM
ajst-5056	34	47	%	%	NOUN
ajst-5056	34	48	99	99	NUM
ajst-5056	34	49	%	%	NOUN
ajst-5056	34	50	94	94	NUM
ajst-5056	34	51	%	%	NOUN
ajst-5056	34	52	95	95	NUM
ajst-5056	34	53	%	%	NOUN
ajst-5056	34	54	92	92	NUM
ajst-5056	34	55	%	%	NOUN
ajst-5056	34	56	97	97	NUM
ajst-5056	34	57	%	%	NOUN
ajst-5056	34	58	stop	stop	VERB
ajst-5056	34	59	89	89	NUM
ajst-5056	34	60	%	%	NOUN
ajst-5056	34	61	88	88	NUM
ajst-5056	34	62	%	%	NOUN
ajst-5056	34	63	96	96	NUM
ajst-5056	34	64	%	%	NOUN
ajst-5056	34	65	92	92	NUM
ajst-5056	34	66	%	%	NOUN
ajst-5056	34	67	88	88	NUM
ajst-5056	34	68	%	%	NOUN
ajst-5056	34	69	88	88	NUM
ajst-5056	34	70	%	%	NOUN
ajst-5056	34	71	96	96	NUM
ajst-5056	34	72	%	%	NOUN
ajst-5056	34	73	wait	wait	VERB
ajst-5056	34	74	92	92	NUM
ajst-5056	34	75	%	%	NOUN
ajst-5056	34	76	97	97	NUM
ajst-5056	34	77	%	%	NOUN
ajst-5056	34	78	93	93	NUM
ajst-5056	34	79	%	%	NOUN
ajst-5056	34	80	94	94	NUM
ajst-5056	34	81	%	%	NOUN
ajst-5056	34	82	94	94	NUM
ajst-5056	34	83	%	%	NOUN
ajst-5056	34	84	95	95	NUM
ajst-5056	34	85	%	%	NOUN
ajst-5056	34	86	88	88	NUM
ajst-5056	34	87	%	%	NOUN
ajst-5056	34	88	roscore	roscore	ADJ
ajst-5056	34	89	rosrun	rosrun	PROPN
ajst-5056	34	90	uvc_camera	uvc_camera	PROPN
ajst-5056	34	91	uvc_camera_node	uvc_camera_node	PROPN
ajst-5056	34	92	roslaunch	roslaunch	NOUN
ajst-5056	35	1	web_video_server	web_video_server	PROPN
ajst-5056	35	2	web_video_server.launch	web_video_server.launch	PROPN
ajst-5056	35	3	189	189	NUM
ajst-5056	35	4	source	source	NOUN
ajst-5056	35	5	activate	activate	VERB
ajst-5056	35	6	py24	py24	PROPN
ajst-5056	35	7	cd	cd	NOUN
ajst-5056	35	8	yolov5	yolov5	NOUN
ajst-5056	35	9	-	-	PUNCT
ajst-5056	35	10	master	master	NOUN
ajst-5056	35	11	python3	python3	NOUN
ajst-5056	35	12	detect1.py	detect1.py	PROPN
ajst-5056	35	13	rosrun	rosrun	NOUN
ajst-5056	35	14	turtlesim	turtlesim	NOUN
ajst-5056	35	15	turtlesim_node	turtlesim_node	PROPN
ajst-5056	35	16	7	7	NUM
ajst-5056	35	17	.	.	PUNCT
ajst-5056	36	1	ackerman	ackerman	PROPN
ajst-5056	36	2	chassis	chassis	PROPN
ajst-5056	36	3	control	control	NOUN
ajst-5056	36	4	encoder	encoder	NOUN
ajst-5056	36	5	speed	speed	NOUN
ajst-5056	36	6	measurement	measurement	NOUN
ajst-5056	36	7	:	:	PUNCT
ajst-5056	36	8	there	there	PRON
ajst-5056	36	9	are	be	VERB
ajst-5056	36	10	two	two	NUM
ajst-5056	36	11	ways	way	NOUN
ajst-5056	36	12	to	to	PART
ajst-5056	36	13	perform	perform	VERB
ajst-5056	36	14	encoder	encoder	NOUN
ajst-5056	36	15	speed	speed	NOUN
ajst-5056	36	16	measurement	measurement	NOUN
ajst-5056	36	17	.	.	PUNCT
ajst-5056	37	1	figure	figure	NOUN
ajst-5056	37	2	11	11	NUM
ajst-5056	37	3	.	.	PUNCT
ajst-5056	38	1	encoder	encoder	NOUN
ajst-5056	38	2	configuration	configuration	NOUN
ajst-5056	38	3	(	(	PUNCT
ajst-5056	38	4	1	1	X
ajst-5056	38	5	)	)	PUNCT
ajst-5056	38	6	the	the	DET
ajst-5056	38	7	first	first	ADJ
ajst-5056	38	8	method	method	NOUN
ajst-5056	38	9	is	be	AUX
ajst-5056	38	10	the	the	DET
ajst-5056	38	11	encoder	encoder	NOUN
ajst-5056	38	12	mode	mode	NOUN
ajst-5056	38	13	of	of	ADP
ajst-5056	38	14	timer	timer	NOUN
ajst-5056	38	15	.	.	PUNCT
ajst-5056	39	1	calculation	calculation	NOUN
ajst-5056	39	2	formula	formula	NOUN
ajst-5056	39	3	:	:	PUNCT
ajst-5056	39	4	current	current	ADJ
ajst-5056	39	5	speed	speed	NOUN
ajst-5056	39	6	=	=	NOUN
ajst-5056	39	7	calculated	calculate	VERB
ajst-5056	39	8	value	value	NOUN
ajst-5056	39	9	per	per	ADP
ajst-5056	39	10	unit	unit	NOUN
ajst-5056	39	11	time	time	NOUN
ajst-5056	39	12	/	/	SYM
ajst-5056	39	13	encoder	encoder	NOUN
ajst-5056	39	14	resolution	resolution	NOUN
ajst-5056	39	15	*	*	PUNCT
ajst-5056	39	16	time	time	NOUN
ajst-5056	39	17	coefficient	coefficient	NOUN
ajst-5056	39	18	(	(	PUNCT
ajst-5056	39	19	2	2	X
ajst-5056	39	20	)	)	PUNCT
ajst-5056	39	21	the	the	DET
ajst-5056	39	22	second	second	NOUN
ajst-5056	39	23	is	be	AUX
ajst-5056	39	24	the	the	DET
ajst-5056	39	25	external	external	ADJ
ajst-5056	39	26	interrupt	interrupt	ADJ
ajst-5056	39	27	mode	mode	NOUN
ajst-5056	39	28	:	:	PUNCT
ajst-5056	39	29	set	set	VERB
ajst-5056	39	30	external	external	ADJ
ajst-5056	39	31	interrupts	interrupt	NOUN
ajst-5056	39	32	on	on	ADP
ajst-5056	39	33	the	the	DET
ajst-5056	39	34	io	io	PROPN
ajst-5056	39	35	ports	port	NOUN
ajst-5056	39	36	corresponding	correspond	VERB
ajst-5056	39	37	to	to	ADP
ajst-5056	39	38	the	the	DET
ajst-5056	39	39	four	four	NUM
ajst-5056	39	40	a	a	PRON
ajst-5056	39	41	-	-	PUNCT
ajst-5056	39	42	phases	phase	NOUN
ajst-5056	39	43	of	of	ADP
ajst-5056	39	44	the	the	DET
ajst-5056	39	45	encoder	encoder	NOUN
ajst-5056	39	46	respectively	respectively	ADV
ajst-5056	39	47	,	,	PUNCT
ajst-5056	39	48	and	and	CCONJ
ajst-5056	39	49	carry	carry	VERB
ajst-5056	39	50	out	out	ADP
ajst-5056	39	51	rising	rise	VERB
ajst-5056	39	52	edge	edge	NOUN
ajst-5056	39	53	detection	detection	NOUN
ajst-5056	39	54	.	.	PUNCT
ajst-5056	40	1	after	after	ADP
ajst-5056	40	2	entering	enter	VERB
ajst-5056	40	3	the	the	DET
ajst-5056	40	4	interrupt	interrupt	ADJ
ajst-5056	40	5	,	,	PUNCT
ajst-5056	40	6	detect	detect	VERB
ajst-5056	40	7	the	the	DET
ajst-5056	40	8	high	high	ADJ
ajst-5056	40	9	and	and	CCONJ
ajst-5056	40	10	low	low	ADJ
ajst-5056	40	11	level	level	NOUN
ajst-5056	40	12	of	of	ADP
ajst-5056	40	13	phase	phase	NOUN
ajst-5056	40	14	b	b	NOUN
ajst-5056	40	15	,	,	PUNCT
ajst-5056	40	16	and	and	CCONJ
ajst-5056	40	17	judge	judge	VERB
ajst-5056	40	18	the	the	DET
ajst-5056	40	19	positive	positive	ADJ
ajst-5056	40	20	and	and	CCONJ
ajst-5056	40	21	reverse	reverse	VERB
ajst-5056	40	22	according	accord	VERB
ajst-5056	40	23	to	to	ADP
ajst-5056	40	24	the	the	DET
ajst-5056	40	25	level	level	NOUN
ajst-5056	40	26	difference	difference	NOUN
ajst-5056	40	27	of	of	ADP
ajst-5056	40	28	phase	phase	NOUN
ajst-5056	40	29	ab	ab	PROPN
ajst-5056	40	30	.	.	PUNCT
ajst-5056	41	1	(	(	PUNCT
ajst-5056	41	2	3	3	X
ajst-5056	41	3	)	)	PUNCT
ajst-5056	41	4	the	the	DET
ajst-5056	41	5	first	first	ADJ
ajst-5056	41	6	reason	reason	NOUN
ajst-5056	41	7	is	be	AUX
ajst-5056	41	8	that	that	SCONJ
ajst-5056	41	9	the	the	DET
ajst-5056	41	10	external	external	ADJ
ajst-5056	41	11	interrupt	interrupt	ADJ
ajst-5056	41	12	mode	mode	NOUN
ajst-5056	41	13	is	be	AUX
ajst-5056	41	14	unstable	unstable	ADJ
ajst-5056	41	15	,	,	PUNCT
ajst-5056	41	16	so	so	ADV
ajst-5056	41	17	the	the	DET
ajst-5056	41	18	simulation	simulation	NOUN
ajst-5056	41	19	debugging	debugging	NOUN
ajst-5056	41	20	is	be	AUX
ajst-5056	41	21	carried	carry	VERB
ajst-5056	41	22	out	out	ADP
ajst-5056	41	23	on	on	ADP
ajst-5056	41	24	the	the	DET
ajst-5056	41	25	chip	chip	NOUN
ajst-5056	41	26	of	of	ADP
ajst-5056	41	27	stm32f103	stm32f103	NOUN
ajst-5056	41	28	,	,	PUNCT
ajst-5056	41	29	and	and	CCONJ
ajst-5056	41	30	the	the	DET
ajst-5056	41	31	adjustment	adjustment	NOUN
ajst-5056	41	32	coefficient	coefficient	NOUN
ajst-5056	41	33	process	process	NOUN
ajst-5056	41	34	is	be	AUX
ajst-5056	41	35	complicated	complicate	VERB
ajst-5056	41	36	in	in	ADP
ajst-5056	41	37	the	the	DET
ajst-5056	41	38	pid	pid	NOUN
ajst-5056	41	39	control	control	NOUN
ajst-5056	41	40	process	process	NOUN
ajst-5056	41	41	.	.	PUNCT
ajst-5056	42	1	the	the	DET
ajst-5056	42	2	second	second	ADJ
ajst-5056	42	3	applies	apply	VERB
ajst-5056	42	4	to	to	ADP
ajst-5056	42	5	chip	chip	NOUN
ajst-5056	42	6	does	do	AUX
ajst-5056	42	7	not	not	PART
ajst-5056	42	8	support	support	VERB
ajst-5056	42	9	timer	timer	NOUN
ajst-5056	42	10	setting	set	VERB
ajst-5056	42	11	encoder	encoder	NOUN
ajst-5056	42	12	mode	mode	NOUN
ajst-5056	42	13	.	.	PUNCT
ajst-5056	43	1	figure	figure	NOUN
ajst-5056	43	2	12	12	NUM
ajst-5056	43	3	.	.	PUNCT
ajst-5056	44	1	ackerman	ackerman	PROPN
ajst-5056	44	2	model	model	PROPN
ajst-5056	44	3	c	c	PROPN
ajst-5056	44	4	:	:	PUNCT
ajst-5056	44	5	center	center	NOUN
ajst-5056	44	6	corner	corner	NOUN
ajst-5056	44	7	r	r	NOUN
ajst-5056	44	8	:	:	PUNCT
ajst-5056	44	9	turning	turn	VERB
ajst-5056	44	10	radius	radius	NOUN
ajst-5056	44	11	l	l	NOUN
ajst-5056	44	12	:	:	PUNCT
ajst-5056	44	13	the	the	DET
ajst-5056	44	14	conductor	conductor	NOUN
ajst-5056	45	1	d	d	NOUN
ajst-5056	45	2	:	:	PUNCT
ajst-5056	45	3	distance	distance	NOUN
ajst-5056	45	4	between	between	ADP
ajst-5056	45	5	front	front	ADJ
ajst-5056	45	6	and	and	CCONJ
ajst-5056	45	7	rear	rear	ADJ
ajst-5056	45	8	wheels	wheel	NOUN
ajst-5056	45	9	v	v	NOUN
ajst-5056	45	10	:	:	PUNCT
ajst-5056	45	11	the	the	DET
ajst-5056	45	12	speed	speed	NOUN
ajst-5056	45	13	of	of	ADP
ajst-5056	45	14	the	the	DET
ajst-5056	45	15	car	car	NOUN
ajst-5056	45	16	(	(	PUNCT
ajst-5056	45	17	1	1	X
ajst-5056	45	18	)	)	PUNCT
ajst-5056	45	19	the	the	DET
ajst-5056	45	20	front	front	NOUN
ajst-5056	45	21	left	leave	VERB
ajst-5056	45	22	wheel	wheel	NOUN
ajst-5056	45	23	turning	turn	VERB
ajst-5056	45	24	angle	angle	NOUN
ajst-5056	45	25	θ1	θ1	NOUN
ajst-5056	45	26	and	and	CCONJ
ajst-5056	45	27	front	front	ADJ
ajst-5056	45	28	right	right	ADJ
ajst-5056	45	29	wheel	wheel	NOUN
ajst-5056	45	30	turning	turn	VERB
ajst-5056	45	31	angle	angle	NOUN
ajst-5056	45	32	θ2	θ2	NOUN
ajst-5056	45	33	can	can	AUX
ajst-5056	45	34	be	be	AUX
ajst-5056	45	35	calculated	calculate	VERB
ajst-5056	45	36	when	when	SCONJ
ajst-5056	45	37	c	c	NOUN
ajst-5056	45	38	and	and	CCONJ
ajst-5056	45	39	car	car	NOUN
ajst-5056	45	40	constant	constant	ADJ
ajst-5056	45	41	are	be	AUX
ajst-5056	45	42	known	know	VERB
ajst-5056	45	43	.	.	PUNCT
ajst-5056	46	1	θ1	θ1	PROPN
ajst-5056	46	2	=	=	PROPN
ajst-5056	46	3	arctan	arctan	PROPN
ajst-5056	46	4	θ2	θ2	PROPN
ajst-5056	46	5	=	=	PROPN
ajst-5056	46	6	arctan	arctan	PROPN
ajst-5056	46	7	c	c	PROPN
ajst-5056	46	8	=	=	SYM
ajst-5056	46	9	arctan	arctan	PROPN
ajst-5056	46	10	(	(	PUNCT
ajst-5056	46	11	2	2	NUM
ajst-5056	46	12	)	)	PUNCT
ajst-5056	46	13	given	give	VERB
ajst-5056	46	14	the	the	DET
ajst-5056	46	15	vehicle	vehicle	NOUN
ajst-5056	46	16	motion	motion	NOUN
ajst-5056	46	17	speed	speed	NOUN
ajst-5056	46	18	v	v	NOUN
ajst-5056	46	19	and	and	CCONJ
ajst-5056	46	20	its	its	PRON
ajst-5056	46	21	own	own	ADJ
ajst-5056	46	22	constant	constant	NOUN
ajst-5056	46	23	,	,	PUNCT
ajst-5056	46	24	the	the	DET
ajst-5056	46	25	left	left	ADJ
ajst-5056	46	26	motor	motor	NOUN
ajst-5056	46	27	speed	speed	NOUN
ajst-5056	46	28	vz	vz	PROPN
ajst-5056	46	29	and	and	CCONJ
ajst-5056	46	30	the	the	DET
ajst-5056	46	31	rear	rear	ADJ
ajst-5056	46	32	right	right	ADJ
ajst-5056	46	33	motor	motor	NOUN
ajst-5056	46	34	speed	speed	NOUN
ajst-5056	46	35	vy	vy	NOUN
ajst-5056	46	36	are	be	AUX
ajst-5056	46	37	calculated	calculate	VERB
ajst-5056	46	38	vz	vz	PRON
ajst-5056	46	39	=	=	NOUN
ajst-5056	46	40	v	v	NOUN
ajst-5056	46	41	vy	vy	NOUN
ajst-5056	46	42	=	=	NOUN
ajst-5056	46	43	v	v	NOUN
ajst-5056	46	44	figure	figure	NOUN
ajst-5056	46	45	13	13	NUM
ajst-5056	46	46	.	.	PUNCT
ajst-5056	47	1	simulation	simulation	NOUN
ajst-5056	47	2	test	test	NOUN
ajst-5056	47	3	result	result	PROPN
ajst-5056	47	4	figure	figure	NOUN
ajst-5056	47	5	14	14	NUM
ajst-5056	47	6	.	.	PUNCT
ajst-5056	48	1	simulation	simulation	NOUN
ajst-5056	48	2	test	test	NOUN
ajst-5056	48	3	result	result	PROPN
ajst-5056	48	4	figure	figure	NOUN
ajst-5056	48	5	15	15	NUM
ajst-5056	48	6	.	.	PUNCT
ajst-5056	49	1	simulation	simulation	NOUN
ajst-5056	49	2	test	test	NOUN
ajst-5056	49	3	result	result	PROPN
ajst-5056	49	4	figure	figure	NOUN
ajst-5056	49	5	16	16	NUM
ajst-5056	49	6	.	.	PUNCT
ajst-5056	50	1	simulation	simulation	NOUN
ajst-5056	50	2	test	test	NOUN
ajst-5056	50	3	result	result	VERB
ajst-5056	50	4	190	190	NUM
ajst-5056	50	5	8	8	NUM
ajst-5056	50	6	.	.	PUNCT
ajst-5056	51	1	conclusion	conclusion	NOUN
ajst-5056	51	2	by	by	ADP
ajst-5056	51	3	building	build	VERB
ajst-5056	51	4	ros	ros	PROPN
ajst-5056	51	5	and	and	CCONJ
ajst-5056	51	6	gazebo	gazebo	PROPN
ajst-5056	51	7	simulation	simulation	PROPN
ajst-5056	51	8	environment	environment	NOUN
ajst-5056	51	9	and	and	CCONJ
ajst-5056	51	10	adjusting	adjust	VERB
ajst-5056	51	11	parameters	parameter	NOUN
ajst-5056	51	12	of	of	ADP
ajst-5056	51	13	teb	teb	PROPN
ajst-5056	51	14	algorithm	algorithm	PROPN
ajst-5056	51	15	,	,	PUNCT
ajst-5056	51	16	the	the	DET
ajst-5056	51	17	navigation	navigation	NOUN
ajst-5056	51	18	and	and	CCONJ
ajst-5056	51	19	positioning	positioning	NOUN
ajst-5056	51	20	of	of	ADP
ajst-5056	51	21	map	map	NOUN
ajst-5056	51	22	construction	construction	NOUN
ajst-5056	51	23	were	be	AUX
ajst-5056	51	24	completed	complete	VERB
ajst-5056	51	25	.	.	PUNCT
ajst-5056	52	1	combining	combine	VERB
ajst-5056	52	2	opencv	opencv	PROPN
ajst-5056	52	3	and	and	CCONJ
ajst-5056	52	4	deep	deep	ADJ
ajst-5056	52	5	learning	learn	VERB
ajst-5056	52	6	machine	machine	NOUN
ajst-5056	52	7	vision	vision	NOUN
ajst-5056	52	8	,	,	PUNCT
ajst-5056	52	9	lane	lane	NOUN
ajst-5056	52	10	detection	detection	NOUN
ajst-5056	52	11	and	and	CCONJ
ajst-5056	52	12	traffic	traffic	NOUN
ajst-5056	52	13	sign	sign	NOUN
ajst-5056	52	14	detection	detection	NOUN
ajst-5056	52	15	are	be	AUX
ajst-5056	52	16	completed	complete	VERB
ajst-5056	52	17	.	.	PUNCT
ajst-5056	53	1	it	it	PRON
ajst-5056	53	2	has	have	VERB
ajst-5056	53	3	high	high	ADJ
ajst-5056	53	4	accuracy	accuracy	NOUN
ajst-5056	53	5	and	and	CCONJ
ajst-5056	53	6	reliability	reliability	NOUN
ajst-5056	53	7	in	in	ADP
ajst-5056	53	8	the	the	DET
ajst-5056	53	9	process	process	NOUN
ajst-5056	53	10	of	of	ADP
ajst-5056	53	11	intelligent	intelligent	ADJ
ajst-5056	53	12	vehicle	vehicle	NOUN
ajst-5056	53	13	running	run	VERB
ajst-5056	53	14	.	.	PUNCT
ajst-5056	54	1	references	reference	NOUN
ajst-5056	54	2	[	[	X
ajst-5056	54	3	1	1	X
ajst-5056	54	4	]	]	X
ajst-5056	54	5	j.t	j.t	PROPN
ajst-5056	54	6	.	.	PROPN
ajst-5056	54	7	platt	platt	PROPN
ajst-5056	54	8	,	,	PUNCT
ajst-5056	54	9	k.n	k.n	PROPN
ajst-5056	54	10	.	.	PROPN
ajst-5056	54	11	ricks	ricks	PROPN
ajst-5056	54	12	:	:	PUNCT
ajst-5056	54	13	comparative	comparative	ADJ
ajst-5056	54	14	analysis	analysis	NOUN
ajst-5056	54	15	of	of	ADP
ajst-5056	54	16	ros	ros	PROPN
ajst-5056	54	17	-	-	PUNCT
ajst-5056	54	18	unity3d	unity3d	PROPN
ajst-5056	54	19	and	and	CCONJ
ajst-5056	54	20	ros	ros	PROPN
ajst-5056	54	21	-	-	PUNCT
ajst-5056	54	22	gazebo	gazebo	PROPN
ajst-5056	54	23	for	for	ADP
ajst-5056	54	24	mobile	mobile	ADJ
ajst-5056	54	25	ground	ground	NOUN
ajst-5056	54	26	robot	robot	NOUN
ajst-5056	54	27	simulation[j	simulation[j	PROPN
ajst-5056	54	28	]	]	PUNCT
ajst-5056	54	29	.	.	PUNCT
ajst-5056	55	1	journal	journal	PROPN
ajst-5056	55	2	of	of	ADP
ajst-5056	55	3	intelligent	intelligent	ADJ
ajst-5056	55	4	&	&	CCONJ
ajst-5056	55	5	robotic	robotic	ADJ
ajst-5056	55	6	systems	system	NOUN
ajst-5056	55	7	,	,	PUNCT
ajst-5056	55	8	vol	vol	NOUN
ajst-5056	55	9	.	.	PUNCT
ajst-5056	56	1	106(2022	106(2022	NOUN
ajst-5056	56	2	)	)	PUNCT
ajst-5056	56	3	no.4	no.4	PROPN
ajst-5056	56	4	.	.	PUNCT
ajst-5056	57	1	[	[	X
ajst-5056	57	2	2	2	NUM
ajst-5056	57	3	]	]	PUNCT
ajst-5056	57	4	l.	l.	PROPN
ajst-5056	57	5	guo	guo	PROPN
ajst-5056	57	6	,	,	PUNCT
ajst-5056	57	7	g.d	g.d	PROPN
ajst-5056	57	8	.	.	PROPN
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ajst-5056	57	11	y.b	y.b	PROPN
ajst-5056	57	12	.	.	PROPN
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ajst-5056	57	14	,	,	PUNCT
ajst-5056	57	15	l.	l.	PROPN
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ajst-5056	57	20	robot	robot	NOUN
ajst-5056	57	21	multitask	multitask	NOUN
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ajst-5056	57	23	scheduling	scheduling	NOUN
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ajst-5056	57	25	on	on	ADP
ajst-5056	57	26	a~	a~	PROPN
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ajst-5056	58	21	.	.	PUNCT
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ajst-5056	59	14	robot	robot	NOUN
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ajst-5056	60	18	.	.	PUNCT
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ajst-5056	61	3	]	]	X
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ajst-5056	61	5	.	.	PROPN
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ajst-5056	61	8	y.	y.	PROPN
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ajst-5056	61	19	.	.	PROPN
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ajst-5056	63	6	,	,	PUNCT
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ajst-5056	63	8	.	.	PROPN
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ajst-5056	66	5	.	.	PROPN
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ajst-5056	66	21	trajectory	trajectory	NOUN
ajst-5056	66	22	planning	planning	NOUN
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ajst-5056	66	26	]	]	PUNCT
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ajst-5056	67	4	design	design	NOUN
ajst-5056	67	5	,	,	PUNCT
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ajst-5056	68	16	:	:	PUNCT
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ajst-5056	68	19	-	-	ADJ
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ajst-5056	68	23	method	method	NOUN
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ajst-5056	68	32	.	.	PUNCT
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ajst-5056	69	3	,	,	PUNCT
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ajst-5056	69	5	.	.	PROPN
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ajst-5056	69	11	,	,	PUNCT
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ajst-5056	69	13	-	-	NOUN
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