id	sid	tid	token	lemma	pos
alkej-160	1	1	محمد	محمد	ADJ
alkej-160	1	2	ومصطفى	ومصطفى	NOUN
alkej-160	1	3	وعد	وعد	PROPN
alkej-160	1	4	al	al	PROPN
alkej-160	1	5	-	-	PUNCT
alkej-160	1	6	khwarizmi	khwarizmi	PROPN
alkej-160	1	7	engineering	engineering	PROPN
alkej-160	1	8	journal	journal	PROPN
alkej-160	1	9	al	al	PROPN
alkej-160	1	10	-	-	PUNCT
alkej-160	1	11	khwarizmi	khwarizmi	PROPN
alkej-160	1	12	engineering	engineering	NOUN
alkej-160	1	13	journal	journal	PROPN
alkej-160	1	14	,	,	PUNCT
alkej-160	1	15	vol	vol	NOUN
alkej-160	1	16	.	.	PROPN
alkej-160	1	17	9	9	NUM
alkej-160	1	18	,	,	PUNCT
alkej-160	1	19	no	no	INTJ
alkej-160	1	20	.	.	NOUN
alkej-160	1	21	1	1	NUM
alkej-160	1	22	,	,	PUNCT
alkej-160	1	23	p.p	p.p	NOUN
alkej-160	1	24	.	.	NOUN
alkej-160	1	25	71	71	NUM
alkej-160	1	26	-	-	SYM
alkej-160	1	27	82	82	NUM
alkej-160	1	28	(	(	PUNCT
alkej-160	1	29	2013	2013	NUM
alkej-160	1	30	)	)	PUNCT
alkej-160	1	31	obstacles	obstacle	NOUN
alkej-160	1	32	avoidance	avoidance	NOUN
alkej-160	1	33	for	for	ADP
alkej-160	1	34	mobile	mobile	NOUN
alkej-160	1	35	robot	robot	NOUN
alkej-160	1	36	using	use	VERB
alkej-160	1	37	enhanced	enhanced	ADJ
alkej-160	1	38	artificial	artificial	ADJ
alkej-160	1	39	potential	potential	ADJ
alkej-160	1	40	field	field	NOUN
alkej-160	1	41	mohamed	mohamed	PROPN
alkej-160	1	42	jasim	jasim	PROPN
alkej-160	2	1	mohamed	mohamed	PROPN
alkej-160	2	2	*	*	PROPN
alkej-160	2	3	mustaffa	mustaffa	PROPN
alkej-160	2	4	waad	waad	NOUN
alkej-160	2	5	abbas	abbas	PROPN
alkej-160	2	6	*	*	PUNCT
alkej-160	2	7	*	*	PUNCT
alkej-160	3	1	*	*	PUNCT
alkej-160	3	2	,	,	PUNCT
alkej-160	3	3	*	*	PUNCT
alkej-160	3	4	*	*	NOUN
alkej-160	3	5	department	department	NOUN
alkej-160	3	6	of	of	ADP
alkej-160	3	7	control	control	NOUN
alkej-160	3	8	and	and	CCONJ
alkej-160	3	9	systems	system	NOUN
alkej-160	3	10	engineering/	engineering/	NUM
alkej-160	3	11	university	university	NOUN
alkej-160	3	12	of	of	ADP
alkej-160	3	13	technology	technology	NOUN
alkej-160	3	14	*	*	NOUN
alkej-160	3	15	email	email	NOUN
alkej-160	3	16	:	:	PUNCT
alkej-160	3	17	moh62moh@yahoo.com	moh62moh@yahoo.com	PROPN
alkej-160	3	18	*	*	NOUN
alkej-160	3	19	email	email	NOUN
alkej-160	3	20	:	:	PUNCT
alkej-160	3	21	mustaffa.waad@yahoo.com	mustaffa.waad@yahoo.com	X
alkej-160	3	22	(	(	PUNCT
alkej-160	3	23	received	receive	VERB
alkej-160	3	24	15	15	NUM
alkej-160	3	25	july	july	PROPN
alkej-160	3	26	2012	2012	NUM
alkej-160	3	27	;	;	PUNCT
alkej-160	3	28	accepted	accept	VERB
alkej-160	3	29	18	18	NUM
alkej-160	3	30	february	february	NOUN
alkej-160	3	31	2013	2013	NUM
alkej-160	3	32	)	)	PUNCT
alkej-160	3	33	abstract	abstract	ADV
alkej-160	3	34	in	in	ADP
alkej-160	3	35	this	this	DET
alkej-160	3	36	paper	paper	NOUN
alkej-160	3	37	,	,	PUNCT
alkej-160	3	38	an	an	DET
alkej-160	3	39	enhanced	enhanced	ADJ
alkej-160	3	40	artificial	artificial	ADJ
alkej-160	3	41	potential	potential	ADJ
alkej-160	3	42	field	field	NOUN
alkej-160	3	43	(	(	PUNCT
alkej-160	3	44	eapf	eapf	NOUN
alkej-160	3	45	)	)	PUNCT
alkej-160	3	46	planner	planner	NOUN
alkej-160	3	47	is	be	AUX
alkej-160	3	48	introduced	introduce	VERB
alkej-160	3	49	.	.	PUNCT
alkej-160	4	1	this	this	DET
alkej-160	4	2	planner	planner	NOUN
alkej-160	4	3	is	be	AUX
alkej-160	4	4	proposed	propose	VERB
alkej-160	4	5	to	to	PART
alkej-160	4	6	rapidly	rapidly	ADV
alkej-160	4	7	find	find	VERB
alkej-160	4	8	online	online	ADJ
alkej-160	4	9	solutions	solution	NOUN
alkej-160	4	10	for	for	ADP
alkej-160	4	11	the	the	DET
alkej-160	4	12	mobile	mobile	ADJ
alkej-160	4	13	robot	robot	PROPN
alkej-160	4	14	path	path	NOUN
alkej-160	4	15	planning	planning	NOUN
alkej-160	4	16	problems	problem	NOUN
alkej-160	4	17	,	,	PUNCT
alkej-160	4	18	when	when	SCONJ
alkej-160	4	19	the	the	DET
alkej-160	4	20	underlying	underlie	VERB
alkej-160	4	21	environment	environment	NOUN
alkej-160	4	22	contains	contain	VERB
alkej-160	4	23	obstacles	obstacle	NOUN
alkej-160	4	24	with	with	ADP
alkej-160	4	25	unknown	unknown	ADJ
alkej-160	4	26	locations	location	NOUN
alkej-160	4	27	and	and	CCONJ
alkej-160	4	28	sizes	size	NOUN
alkej-160	4	29	.	.	PUNCT
alkej-160	5	1	the	the	DET
alkej-160	5	2	classical	classical	ADJ
alkej-160	5	3	artificial	artificial	ADJ
alkej-160	5	4	potential	potential	ADJ
alkej-160	5	5	field	field	NOUN
alkej-160	5	6	represents	represent	VERB
alkej-160	5	7	both	both	CCONJ
alkej-160	5	8	the	the	DET
alkej-160	5	9	repulsive	repulsive	ADJ
alkej-160	5	10	force	force	NOUN
alkej-160	5	11	due	due	ADP
alkej-160	5	12	to	to	ADP
alkej-160	5	13	the	the	DET
alkej-160	5	14	detected	detect	VERB
alkej-160	5	15	obstacle	obstacle	NOUN
alkej-160	5	16	and	and	CCONJ
alkej-160	5	17	the	the	DET
alkej-160	5	18	attractive	attractive	ADJ
alkej-160	5	19	force	force	NOUN
alkej-160	5	20	due	due	ADP
alkej-160	5	21	to	to	ADP
alkej-160	5	22	the	the	DET
alkej-160	5	23	target	target	NOUN
alkej-160	5	24	.	.	PUNCT
alkej-160	6	1	these	these	DET
alkej-160	6	2	forces	force	NOUN
alkej-160	6	3	can	can	AUX
alkej-160	6	4	be	be	AUX
alkej-160	6	5	considered	consider	VERB
alkej-160	6	6	as	as	ADP
alkej-160	6	7	the	the	DET
alkej-160	6	8	primary	primary	ADJ
alkej-160	6	9	directional	directional	ADJ
alkej-160	6	10	indicator	indicator	NOUN
alkej-160	6	11	for	for	ADP
alkej-160	6	12	the	the	DET
alkej-160	6	13	mobile	mobile	NOUN
alkej-160	6	14	robot	robot	NOUN
alkej-160	6	15	.	.	PUNCT
alkej-160	7	1	however	however	ADV
alkej-160	7	2	,	,	PUNCT
alkej-160	7	3	the	the	DET
alkej-160	7	4	classical	classical	ADJ
alkej-160	7	5	artificial	artificial	ADJ
alkej-160	7	6	potential	potential	ADJ
alkej-160	7	7	field	field	NOUN
alkej-160	7	8	has	have	VERB
alkej-160	7	9	many	many	ADJ
alkej-160	7	10	drawbacks	drawback	NOUN
alkej-160	7	11	.	.	PUNCT
alkej-160	8	1	so	so	ADV
alkej-160	8	2	,	,	PUNCT
alkej-160	8	3	we	we	PRON
alkej-160	8	4	suggest	suggest	VERB
alkej-160	8	5	two	two	NUM
alkej-160	8	6	secondary	secondary	ADJ
alkej-160	8	7	forces	force	NOUN
alkej-160	8	8	which	which	PRON
alkej-160	8	9	are	be	AUX
alkej-160	8	10	called	call	VERB
alkej-160	8	11	the	the	DET
alkej-160	8	12	midpoint	midpoint	NOUN
alkej-160	8	13	repulsive	repulsive	ADJ
alkej-160	8	14	force	force	NOUN
alkej-160	8	15	and	and	CCONJ
alkej-160	8	16	the	the	DET
alkej-160	8	17	off	off	ADJ
alkej-160	8	18	-	-	PUNCT
alkej-160	8	19	sensors	sensor	NOUN
alkej-160	8	20	attractive	attractive	ADJ
alkej-160	8	21	force	force	NOUN
alkej-160	8	22	.	.	PUNCT
alkej-160	9	1	these	these	DET
alkej-160	9	2	secondary	secondary	ADJ
alkej-160	9	3	forces	force	NOUN
alkej-160	9	4	and	and	CCONJ
alkej-160	9	5	modified	modify	VERB
alkej-160	9	6	primary	primary	ADJ
alkej-160	9	7	forces	force	NOUN
alkej-160	9	8	are	be	AUX
alkej-160	9	9	merged	merge	VERB
alkej-160	9	10	to	to	ADP
alkej-160	9	11	overcomethe	overcomethe	DET
alkej-160	9	12	drawbacks	drawback	NOUN
alkej-160	9	13	like	like	ADP
alkej-160	9	14	dead	dead	ADJ
alkej-160	9	15	ends	end	NOUN
alkej-160	9	16	and	and	CCONJ
alkej-160	9	17	u	u	NOUN
alkej-160	9	18	shape	shape	NOUN
alkej-160	9	19	traps	trap	NOUN
alkej-160	9	20	.	.	PUNCT
alkej-160	10	1	the	the	DET
alkej-160	10	2	proposed	propose	VERB
alkej-160	10	3	algorithm	algorithm	NOUN
alkej-160	10	4	acquirs	acquirs	PART
alkej-160	10	5	information	information	NOUN
alkej-160	10	6	of	of	ADP
alkej-160	10	7	unknown	unknown	ADJ
alkej-160	10	8	environment	environment	NOUN
alkej-160	10	9	by	by	ADP
alkej-160	10	10	collecting	collect	VERB
alkej-160	10	11	the	the	DET
alkej-160	10	12	readings	reading	NOUN
alkej-160	10	13	of	of	ADP
alkej-160	10	14	five	five	NUM
alkej-160	10	15	infrared	infrared	ADJ
alkej-160	10	16	sensors	sensor	NOUN
alkej-160	10	17	with	with	ADP
alkej-160	10	18	detecting	detect	VERB
alkej-160	10	19	range	range	NOUN
alkej-160	10	20	of	of	ADP
alkej-160	10	21	0.8	0.8	NUM
alkej-160	10	22	m.	m.	NOUN
alkej-160	10	23	the	the	DET
alkej-160	10	24	proposed	propose	VERB
alkej-160	10	25	algorithm	algorithm	NOUN
alkej-160	10	26	is	be	AUX
alkej-160	10	27	applied	apply	VERB
alkej-160	10	28	on	on	ADP
alkej-160	10	29	two	two	NUM
alkej-160	10	30	different	different	ADJ
alkej-160	10	31	environments	environment	NOUN
alkej-160	10	32	also	also	ADV
alkej-160	10	33	it	it	PRON
alkej-160	10	34	is	be	AUX
alkej-160	10	35	compared	compare	VERB
alkej-160	10	36	with	with	ADP
alkej-160	10	37	another	another	DET
alkej-160	10	38	algorithm	algorithm	NOUN
alkej-160	10	39	.	.	PUNCT
alkej-160	11	1	the	the	DET
alkej-160	11	2	simulation	simulation	NOUN
alkej-160	11	3	and	and	CCONJ
alkej-160	11	4	experimental	experimental	ADJ
alkej-160	11	5	results	result	NOUN
alkej-160	11	6	confirm	confirm	VERB
alkej-160	11	7	that	that	SCONJ
alkej-160	11	8	the	the	DET
alkej-160	11	9	proposed	propose	VERB
alkej-160	11	10	algorithm	algorithm	NOUN
alkej-160	11	11	always	always	ADV
alkej-160	11	12	converges	converge	VERB
alkej-160	11	13	to	to	ADP
alkej-160	11	14	the	the	DET
alkej-160	11	15	desired	desire	VERB
alkej-160	11	16	target	target	NOUN
alkej-160	11	17	.	.	PUNCT
alkej-160	12	1	in	in	ADP
alkej-160	12	2	addition	addition	NOUN
alkej-160	12	3	,	,	PUNCT
alkej-160	12	4	the	the	DET
alkej-160	12	5	performance	performance	NOUN
alkej-160	12	6	of	of	ADP
alkej-160	12	7	algorithm	algorithm	NOUN
alkej-160	12	8	is	be	AUX
alkej-160	12	9	well	well	ADJ
alkej-160	12	10	and	and	CCONJ
alkej-160	12	11	meets	meet	VERB
alkej-160	12	12	the	the	DET
alkej-160	12	13	requirements	requirement	NOUN
alkej-160	12	14	in	in	ADP
alkej-160	12	15	terms	term	NOUN
alkej-160	12	16	of	of	ADP
alkej-160	12	17	saved	save	VERB
alkej-160	12	18	time	time	NOUN
alkej-160	12	19	and	and	CCONJ
alkej-160	12	20	computational	computational	ADJ
alkej-160	12	21	resources	resource	NOUN
alkej-160	12	22	.	.	PUNCT
alkej-160	13	1	keywords	keyword	NOUN
alkej-160	13	2	:	:	PUNCT
alkej-160	13	3	mobile	mobile	ADJ
alkej-160	13	4	robot	robot	NOUN
alkej-160	13	5	,	,	PUNCT
alkej-160	13	6	local	local	ADJ
alkej-160	13	7	path	path	NOUN
alkej-160	13	8	planning	planning	NOUN
alkej-160	13	9	,	,	PUNCT
alkej-160	13	10	obstacles	obstacle	NOUN
alkej-160	13	11	avoidance	avoidance	NOUN
alkej-160	13	12	,	,	PUNCT
alkej-160	13	13	potential	potential	ADJ
alkej-160	13	14	field	field	NOUN
alkej-160	13	15	.	.	PUNCT
alkej-160	14	1	1	1	X
alkej-160	14	2	.	.	X
alkej-160	14	3	introduction	introduction	NOUN
alkej-160	14	4	the	the	DET
alkej-160	14	5	existence	existence	NOUN
alkej-160	14	6	of	of	ADP
alkej-160	14	7	robots	robot	NOUN
alkej-160	14	8	in	in	ADP
alkej-160	14	9	various	various	ADJ
alkej-160	14	10	types	type	NOUN
alkej-160	14	11	became	become	VERB
alkej-160	14	12	very	very	ADV
alkej-160	14	13	significant	significant	ADJ
alkej-160	14	14	in	in	ADP
alkej-160	14	15	the	the	DET
alkej-160	14	16	industrial	industrial	ADJ
alkej-160	14	17	sector	sector	NOUN
alkej-160	14	18	and	and	CCONJ
alkej-160	14	19	especially	especially	ADV
alkej-160	14	20	in	in	ADP
alkej-160	14	21	the	the	DET
alkej-160	14	22	service	service	NOUN
alkej-160	14	23	sector	sector	NOUN
alkej-160	14	24	.	.	PUNCT
alkej-160	15	1	due	due	ADP
alkej-160	15	2	to	to	ADP
alkej-160	15	3	the	the	DET
alkej-160	15	4	growing	grow	VERB
alkej-160	15	5	interest	interest	NOUN
alkej-160	15	6	of	of	ADP
alkej-160	15	7	the	the	DET
alkej-160	15	8	service	service	NOUN
alkej-160	15	9	robots	robot	NOUN
alkej-160	15	10	,	,	PUNCT
alkej-160	15	11	they	they	PRON
alkej-160	15	12	can	can	AUX
alkej-160	15	13	achieve	achieve	VERB
alkej-160	15	14	their	their	PRON
alkej-160	15	15	mission	mission	NOUN
alkej-160	15	16	in	in	ADP
alkej-160	15	17	an	an	DET
alkej-160	15	18	environment	environment	NOUN
alkej-160	15	19	which	which	PRON
alkej-160	15	20	contains	contain	VERB
alkej-160	15	21	several	several	ADJ
alkej-160	15	22	obstacles	obstacle	NOUN
alkej-160	15	23	[	[	X
alkej-160	15	24	1	1	NUM
alkej-160	15	25	]	]	PUNCT
alkej-160	15	26	.	.	PUNCT
alkej-160	16	1	the	the	DET
alkej-160	16	2	mobile	mobile	ADJ
alkej-160	16	3	robots	robot	NOUN
alkej-160	16	4	have	have	VERB
alkej-160	16	5	the	the	DET
alkej-160	16	6	advantage	advantage	NOUN
alkej-160	16	7	of	of	ADP
alkej-160	16	8	the	the	DET
alkej-160	16	9	simplicity	simplicity	NOUN
alkej-160	16	10	of	of	ADP
alkej-160	16	11	manufacturing	manufacturing	NOUN
alkej-160	16	12	and	and	CCONJ
alkej-160	16	13	mobility	mobility	NOUN
alkej-160	16	14	in	in	ADP
alkej-160	16	15	complex	complex	ADJ
alkej-160	16	16	environments	environment	NOUN
alkej-160	16	17	.	.	PUNCT
alkej-160	17	1	the	the	DET
alkej-160	17	2	capacity	capacity	NOUN
alkej-160	17	3	to	to	PART
alkej-160	17	4	move	move	VERB
alkej-160	17	5	without	without	ADP
alkej-160	17	6	collision	collision	NOUN
alkej-160	17	7	in	in	ADP
alkej-160	17	8	such	such	ADJ
alkej-160	17	9	environment	environment	NOUN
alkej-160	17	10	is	be	AUX
alkej-160	17	11	one	one	NUM
alkej-160	17	12	of	of	ADP
alkej-160	17	13	the	the	DET
alkej-160	17	14	fundamental	fundamental	ADJ
alkej-160	17	15	questions	question	NOUN
alkej-160	17	16	to	to	PART
alkej-160	17	17	be	be	AUX
alkej-160	17	18	solved	solve	VERB
alkej-160	17	19	in	in	ADP
alkej-160	17	20	autonomous	autonomous	ADJ
alkej-160	17	21	robot	robot	NOUN
alkej-160	17	22	-	-	PUNCT
alkej-160	17	23	like	like	ADJ
alkej-160	17	24	problems	problem	NOUN
alkej-160	17	25	.	.	PUNCT
alkej-160	18	1	the	the	DET
alkej-160	18	2	robot	robot	NOUN
alkej-160	18	3	should	should	AUX
alkej-160	18	4	avoid	avoid	VERB
alkej-160	18	5	the	the	DET
alkej-160	18	6	undesirable	undesirable	ADJ
alkej-160	18	7	and	and	CCONJ
alkej-160	18	8	potentially	potentially	ADV
alkej-160	18	9	dangerous	dangerous	ADJ
alkej-160	18	10	objects	object	NOUN
alkej-160	18	11	.	.	PUNCT
alkej-160	19	1	these	these	DET
alkej-160	19	2	possibilities	possibility	NOUN
alkej-160	19	3	have	have	VERB
alkej-160	19	4	much	much	ADJ
alkej-160	19	5	interest	interest	NOUN
alkej-160	19	6	of	of	ADP
alkej-160	19	7	the	the	DET
alkej-160	19	8	subject	subject	NOUN
alkej-160	19	9	of	of	ADP
alkej-160	19	10	robot	robot	NOUN
alkej-160	19	11	-	-	PUNCT
alkej-160	19	12	like	like	ADJ
alkej-160	19	13	research	research	NOUN
alkej-160	19	14	[	[	X
alkej-160	19	15	2	2	NUM
alkej-160	19	16	]	]	PUNCT
alkej-160	19	17	.	.	PUNCT
alkej-160	20	1	the	the	DET
alkej-160	20	2	methods	method	NOUN
alkej-160	20	3	to	to	PART
alkej-160	20	4	plan	plan	VERB
alkej-160	20	5	a	a	DET
alkej-160	20	6	path	path	NOUN
alkej-160	20	7	for	for	ADP
alkej-160	20	8	mobile	mobile	NOUN
alkej-160	20	9	robot	robot	NOUN
alkej-160	20	10	can	can	AUX
alkej-160	20	11	be	be	AUX
alkej-160	20	12	classified	classify	VERB
alkej-160	20	13	into	into	ADP
alkej-160	20	14	two	two	NUM
alkej-160	20	15	types	type	NOUN
alkej-160	20	16	:	:	PUNCT
alkej-160	20	17	global	global	ADJ
alkej-160	20	18	path	path	NOUN
alkej-160	20	19	planning	planning	NOUN
alkej-160	20	20	techniques	technique	NOUN
alkej-160	20	21	and	and	CCONJ
alkej-160	20	22	local	local	ADJ
alkej-160	20	23	path	path	NOUN
alkej-160	20	24	planning	planning	NOUN
alkej-160	20	25	techniques	technique	NOUN
alkej-160	20	26	or	or	CCONJ
alkej-160	20	27	obstacles	obstacle	NOUN
alkej-160	20	28	avoidance	avoidance	NOUN
alkej-160	20	29	techniques	technique	NOUN
alkej-160	20	30	.	.	PUNCT
alkej-160	21	1	the	the	DET
alkej-160	21	2	global	global	ADJ
alkej-160	21	3	path	path	PROPN
alkej-160	21	4	planning	planning	NOUN
alkej-160	21	5	techniques	technique	NOUN
alkej-160	21	6	are	be	AUX
alkej-160	21	7	related	relate	VERB
alkej-160	21	8	to	to	ADP
alkej-160	21	9	those	those	DET
alkej-160	21	10	techniques	technique	NOUN
alkej-160	21	11	that	that	PRON
alkej-160	21	12	are	be	AUX
alkej-160	21	13	done	do	VERB
alkej-160	21	14	before	before	SCONJ
alkej-160	21	15	the	the	DET
alkej-160	21	16	robot	robot	NOUN
alkej-160	21	17	moves	move	VERB
alkej-160	21	18	.	.	PUNCT
alkej-160	22	1	on	on	ADP
alkej-160	22	2	other	other	ADJ
alkej-160	22	3	hand	hand	NOUN
alkej-160	22	4	online	online	ADJ
alkej-160	22	5	obstacles	obstacle	NOUN
alkej-160	22	6	avoidance	avoidance	NOUN
alkej-160	22	7	techniques	technique	NOUN
alkej-160	22	8	are	be	AUX
alkej-160	22	9	associated	associate	VERB
alkej-160	22	10	with	with	ADP
alkej-160	22	11	those	those	DET
alkej-160	22	12	techniques	technique	NOUN
alkej-160	22	13	that	that	PRON
alkej-160	22	14	are	be	AUX
alkej-160	22	15	done	do	VERB
alkej-160	22	16	while	while	SCONJ
alkej-160	22	17	the	the	DET
alkej-160	22	18	robot	robot	NOUN
alkej-160	22	19	motion	motion	NOUN
alkej-160	22	20	[	[	X
alkej-160	22	21	3	3	NUM
alkej-160	22	22	]	]	PUNCT
alkej-160	22	23	.	.	PUNCT
alkej-160	23	1	artificial	artificial	ADJ
alkej-160	23	2	potential	potential	ADJ
alkej-160	23	3	field	field	NOUN
alkej-160	23	4	is	be	AUX
alkej-160	23	5	popular	popular	ADJ
alkej-160	23	6	approach	approach	NOUN
alkej-160	23	7	for	for	ADP
alkej-160	23	8	obstacles	obstacle	NOUN
alkej-160	23	9	avoidance	avoidance	NOUN
alkej-160	23	10	.	.	PUNCT
alkej-160	24	1	artificial	artificial	ADJ
alkej-160	24	2	potential	potential	ADJ
alkej-160	24	3	field	field	NOUN
alkej-160	24	4	method	method	NOUN
alkej-160	24	5	(	(	PUNCT
alkej-160	24	6	apf	apf	PROPN
alkej-160	24	7	)	)	PUNCT
alkej-160	24	8	is	be	AUX
alkej-160	24	9	one	one	NUM
alkej-160	24	10	of	of	ADP
alkej-160	24	11	the	the	DET
alkej-160	24	12	mostly	mostly	ADV
alkej-160	24	13	studied	study	VERB
alkej-160	24	14	and	and	CCONJ
alkej-160	24	15	used	use	VERB
alkej-160	24	16	methods	method	NOUN
alkej-160	24	17	in	in	ADP
alkej-160	24	18	mobile	mobile	ADJ
alkej-160	24	19	robot	robot	NOUN
alkej-160	24	20	path	path	NOUN
alkej-160	24	21	planning	planning	NOUN
alkej-160	24	22	[	[	X
alkej-160	24	23	4	4	NUM
alkej-160	24	24	]	]	PUNCT
alkej-160	24	25	.	.	PUNCT
alkej-160	25	1	the	the	DET
alkej-160	25	2	artificial	artificial	ADJ
alkej-160	25	3	potential	potential	ADJ
alkej-160	25	4	field	field	NOUN
alkej-160	25	5	method	method	NOUN
alkej-160	25	6	was	be	AUX
alkej-160	25	7	proposed	propose	VERB
alkej-160	25	8	by	by	ADP
alkej-160	25	9	khatib	khatib	PROPN
alkej-160	25	10	,	,	PUNCT
alkej-160	25	11	which	which	PRON
alkej-160	25	12	is	be	AUX
alkej-160	25	13	a	a	DET
alkej-160	25	14	virtual	virtual	ADJ
alkej-160	25	15	force	force	NOUN
alkej-160	25	16	field	field	NOUN
alkej-160	25	17	method	method	NOUN
alkej-160	25	18	.	.	PUNCT
alkej-160	26	1	although	although	SCONJ
alkej-160	26	2	this	this	DET
alkej-160	26	3	method	method	NOUN
alkej-160	26	4	is	be	AUX
alkej-160	26	5	fast	fast	ADJ
alkej-160	26	6	and	and	CCONJ
alkej-160	26	7	efficient	efficient	ADJ
alkej-160	26	8	,	,	PUNCT
alkej-160	26	9	it	it	PRON
alkej-160	26	10	has	have	VERB
alkej-160	26	11	the	the	DET
alkej-160	26	12	following	follow	VERB
alkej-160	26	13	drawbacks	drawback	NOUN
alkej-160	26	14	and	and	CCONJ
alkej-160	26	15	limitations	limitation	NOUN
alkej-160	26	16	;	;	PUNCT
alkej-160	26	17	trap	trap	NOUN
alkej-160	26	18	situations	situation	NOUN
alkej-160	26	19	due	due	ADJ
alkej-160	26	20	to	to	ADP
alkej-160	26	21	local	local	ADJ
alkej-160	26	22	minima	minima	NOUN
alkej-160	26	23	,	,	PUNCT
alkej-160	26	24	no	no	DET
alkej-160	26	25	passage	passage	NOUN
alkej-160	26	26	between	between	ADP
alkej-160	26	27	closely	closely	ADV
alkej-160	26	28	spaced	space	VERB
alkej-160	26	29	obstacles	obstacle	NOUN
alkej-160	26	30	,	,	PUNCT
alkej-160	26	31	oscillations	oscillation	NOUN
alkej-160	26	32	in	in	ADP
alkej-160	26	33	the	the	DET
alkej-160	26	34	presence	presence	NOUN
alkej-160	26	35	of	of	ADP
alkej-160	26	36	obstacles	obstacle	NOUN
alkej-160	26	37	and	and	CCONJ
alkej-160	26	38	oscillations	oscillation	NOUN
alkej-160	26	39	in	in	ADP
alkej-160	26	40	narrow	narrow	ADJ
alkej-160	26	41	passages	passage	NOUN
alkej-160	26	42	[	[	X
alkej-160	26	43	5	5	NUM
alkej-160	26	44	]	]	PUNCT
alkej-160	26	45	.	.	PUNCT
alkej-160	27	1	mailto:moh62moh@yahoo.com	mailto:moh62moh@yahoo.com	X
alkej-160	28	1	mailto:mustaffa.waad@yahoo.com	mailto:mustaffa.waad@yahoo.com	PROPN
alkej-160	28	2	mohamed	mohamed	PROPN
alkej-160	28	3	jasim	jasim	PROPN
alkej-160	28	4	mohamed	mohamed	PROPN
alkej-160	28	5	al	al	PROPN
alkej-160	28	6	-	-	PUNCT
alkej-160	28	7	khwarizmi	khwarizmi	PROPN
alkej-160	28	8	engineering	engineering	NOUN
alkej-160	28	9	journal	journal	PROPN
alkej-160	28	10	,	,	PUNCT
alkej-160	28	11	vol	vol	NOUN
alkej-160	28	12	.	.	NOUN
alkej-160	28	13	9	9	NUM
alkej-160	28	14	,	,	PUNCT
alkej-160	28	15	no.1	no.1	NUM
alkej-160	28	16	,	,	PUNCT
alkej-160	28	17	p.p.71	p.p.71	NOUN
alkej-160	28	18	-	-	PUNCT
alkej-160	28	19	82	82	NUM
alkej-160	28	20	(	(	PUNCT
alkej-160	28	21	2013	2013	NUM
alkej-160	28	22	)	)	PUNCT
alkej-160	28	23	72	72	NUM
alkej-160	28	24	to	to	PART
alkej-160	28	25	overcome	overcome	VERB
alkej-160	28	26	these	these	DET
alkej-160	28	27	limitations	limitation	NOUN
alkej-160	28	28	,	,	PUNCT
alkej-160	28	29	several	several	ADJ
alkej-160	28	30	authors	author	NOUN
alkej-160	28	31	have	have	AUX
alkej-160	28	32	tried	try	VERB
alkej-160	28	33	to	to	PART
alkej-160	28	34	solve	solve	VERB
alkej-160	28	35	the	the	DET
alkej-160	28	36	local	local	ADJ
alkej-160	28	37	minima	minima	NOUN
alkej-160	28	38	problem	problem	NOUN
alkej-160	28	39	by	by	ADP
alkej-160	28	40	presenting	present	VERB
alkej-160	28	41	new	new	ADJ
alkej-160	28	42	potential	potential	ADJ
alkej-160	28	43	functions	function	NOUN
alkej-160	28	44	so	so	SCONJ
alkej-160	28	45	that	that	SCONJ
alkej-160	28	46	the	the	DET
alkej-160	28	47	destination	destination	NOUN
alkej-160	28	48	becomes	become	VERB
alkej-160	28	49	the	the	DET
alkej-160	28	50	global	global	ADJ
alkej-160	28	51	minimum	minimum	NOUN
alkej-160	28	52	.	.	PUNCT
alkej-160	29	1	others	other	NOUN
alkej-160	29	2	tried	try	VERB
alkej-160	29	3	to	to	PART
alkej-160	29	4	solve	solve	VERB
alkej-160	29	5	these	these	DET
alkej-160	29	6	problems	problem	NOUN
alkej-160	29	7	by	by	ADP
alkej-160	29	8	combining	combine	VERB
alkej-160	29	9	the	the	DET
alkej-160	29	10	simple	simple	ADJ
alkej-160	29	11	potential	potential	ADJ
alkej-160	29	12	method	method	NOUN
alkej-160	29	13	with	with	ADP
alkej-160	29	14	artificial	artificial	ADJ
alkej-160	29	15	intelligence	intelligence	NOUN
alkej-160	29	16	models	model	NOUN
alkej-160	29	17	like	like	ADP
alkej-160	29	18	neural	neural	ADJ
alkej-160	29	19	network	network	NOUN
alkej-160	29	20	[	[	X
alkej-160	29	21	6	6	NUM
alkej-160	29	22	]	]	PUNCT
alkej-160	29	23	,	,	PUNCT
alkej-160	29	24	genetic	genetic	ADJ
alkej-160	29	25	algorithm	algorithm	NOUN
alkej-160	30	1	[	[	X
alkej-160	30	2	7	7	X
alkej-160	30	3	]	]	PUNCT
alkej-160	30	4	and	and	CCONJ
alkej-160	30	5	fuzzy	fuzzy	ADJ
alkej-160	30	6	logic	logic	NOUN
alkej-160	30	7	[	[	X
alkej-160	30	8	8	8	NUM
alkej-160	30	9	]	]	PUNCT
alkej-160	30	10	.	.	PUNCT
alkej-160	31	1	but	but	CCONJ
alkej-160	31	2	unfortunately	unfortunately	ADV
alkej-160	31	3	these	these	DET
alkej-160	31	4	methods	method	NOUN
alkej-160	31	5	contribute	contribute	VERB
alkej-160	31	6	to	to	PART
alkej-160	31	7	increase	increase	VERB
alkej-160	31	8	in	in	ADP
alkej-160	31	9	the	the	DET
alkej-160	31	10	complexity	complexity	NOUN
alkej-160	31	11	of	of	ADP
alkej-160	31	12	the	the	DET
alkej-160	31	13	algorithms	algorithm	NOUN
alkej-160	31	14	.	.	PUNCT
alkej-160	32	1	in	in	ADP
alkej-160	32	2	this	this	DET
alkej-160	32	3	paper	paper	NOUN
alkej-160	32	4	,	,	PUNCT
alkej-160	32	5	we	we	PRON
alkej-160	32	6	proposed	propose	VERB
alkej-160	32	7	an	an	DET
alkej-160	32	8	algorithm	algorithm	NOUN
alkej-160	32	9	using	use	VERB
alkej-160	32	10	a	a	DET
alkej-160	32	11	simple	simple	ADJ
alkej-160	32	12	potential	potential	ADJ
alkej-160	32	13	functions	function	NOUN
alkej-160	32	14	with	with	ADP
alkej-160	32	15	specific	specific	ADJ
alkej-160	32	16	rules	rule	NOUN
alkej-160	32	17	and	and	CCONJ
alkej-160	32	18	conditions	condition	NOUN
alkej-160	32	19	,	,	PUNCT
alkej-160	32	20	that	that	PRON
alkej-160	32	21	overcome	overcome	VERB
alkej-160	32	22	the	the	DET
alkej-160	32	23	conventional	conventional	ADJ
alkej-160	32	24	artificial	artificial	ADJ
alkej-160	32	25	potential	potential	ADJ
alkej-160	32	26	field	field	NOUN
alkej-160	32	27	.	.	PUNCT
alkej-160	33	1	the	the	DET
alkej-160	33	2	simulations	simulation	NOUN
alkej-160	33	3	of	of	ADP
alkej-160	33	4	experiments	experiment	NOUN
alkej-160	33	5	verify	verify	VERB
alkej-160	33	6	that	that	SCONJ
alkej-160	33	7	this	this	DET
alkej-160	33	8	algorithm	algorithm	NOUN
alkej-160	33	9	is	be	AUX
alkej-160	33	10	not	not	PART
alkej-160	33	11	bound	bind	VERB
alkej-160	33	12	to	to	ADP
alkej-160	33	13	the	the	DET
alkej-160	33	14	limits	limit	NOUN
alkej-160	33	15	as	as	SCONJ
alkej-160	33	16	is	be	AUX
alkej-160	33	17	the	the	DET
alkej-160	33	18	case	case	NOUN
alkej-160	33	19	with	with	ADP
alkej-160	33	20	traditional	traditional	ADJ
alkej-160	33	21	artificial	artificial	ADJ
alkej-160	33	22	potential	potential	ADJ
alkej-160	33	23	field	field	NOUN
alkej-160	33	24	methods	method	NOUN
alkej-160	33	25	.	.	PUNCT
alkej-160	34	1	the	the	DET
alkej-160	34	2	reminder	reminder	NOUN
alkej-160	34	3	of	of	ADP
alkej-160	34	4	this	this	DET
alkej-160	34	5	paper	paper	NOUN
alkej-160	34	6	is	be	AUX
alkej-160	34	7	organized	organize	VERB
alkej-160	34	8	as	as	SCONJ
alkej-160	34	9	follows	follow	VERB
alkej-160	34	10	:	:	PUNCT
alkej-160	34	11	section	section	PROPN
alkej-160	34	12	ii	ii	PROPN
alkej-160	34	13	gives	give	VERB
alkej-160	34	14	brief	brief	ADJ
alkej-160	34	15	introduction	introduction	NOUN
alkej-160	34	16	to	to	ADP
alkej-160	34	17	the	the	DET
alkej-160	34	18	traditional	traditional	ADJ
alkej-160	34	19	artificial	artificial	ADJ
alkej-160	34	20	potential	potential	ADJ
alkej-160	34	21	field	field	NOUN
alkej-160	34	22	,	,	PUNCT
alkej-160	34	23	section	section	NOUN
alkej-160	34	24	iii	iii	PROPN
alkej-160	34	25	describes	describe	VERB
alkej-160	34	26	the	the	DET
alkej-160	34	27	problem	problem	NOUN
alkej-160	34	28	,	,	PUNCT
alkej-160	34	29	section	section	NOUN
alkej-160	34	30	iv	iv	NUM
alkej-160	34	31	gives	give	VERB
alkej-160	34	32	the	the	DET
alkej-160	34	33	determination	determination	NOUN
alkej-160	34	34	to	to	ADP
alkej-160	34	35	the	the	DET
alkej-160	34	36	robot	robot	NOUN
alkej-160	34	37	system	system	NOUN
alkej-160	34	38	that	that	PRON
alkej-160	34	39	is	be	AUX
alkej-160	34	40	used	use	VERB
alkej-160	34	41	,	,	PUNCT
alkej-160	34	42	section	section	NOUN
alkej-160	34	43	v	v	NOUN
alkej-160	34	44	illustrates	illustrate	VERB
alkej-160	34	45	the	the	DET
alkej-160	34	46	proposed	propose	VERB
alkej-160	34	47	algorithm	algorithm	NOUN
alkej-160	34	48	,	,	PUNCT
alkej-160	34	49	section	section	NOUN
alkej-160	34	50	vi	vi	PROPN
alkej-160	34	51	shows	show	VERB
alkej-160	34	52	the	the	DET
alkej-160	34	53	simulation	simulation	NOUN
alkej-160	34	54	of	of	ADP
alkej-160	34	55	number	number	NOUN
alkej-160	34	56	of	of	ADP
alkej-160	34	57	local	local	ADJ
alkej-160	34	58	path	path	NOUN
alkej-160	34	59	planning	planning	NOUN
alkej-160	34	60	cases	case	NOUN
alkej-160	34	61	and	and	CCONJ
alkej-160	34	62	a	a	DET
alkej-160	34	63	comparison	comparison	NOUN
alkej-160	34	64	study	study	NOUN
alkej-160	34	65	are	be	AUX
alkej-160	34	66	given	give	VERB
alkej-160	34	67	.	.	PUNCT
alkej-160	35	1	finally	finally	ADV
alkej-160	35	2	,	,	PUNCT
alkej-160	35	3	section	section	NOUN
alkej-160	35	4	vii	vii	PROPN
alkej-160	35	5	introduces	introduce	VERB
alkej-160	35	6	the	the	DET
alkej-160	35	7	conclusions	conclusion	NOUN
alkej-160	35	8	.	.	PUNCT
alkej-160	36	1	2	2	X
alkej-160	36	2	.	.	X
alkej-160	36	3	a	a	DET
alkej-160	36	4	traditional	traditional	ADJ
alkej-160	36	5	artificial	artificial	ADJ
alkej-160	36	6	potential	potential	ADJ
alkej-160	36	7	field	field	NOUN
alkej-160	36	8	method	method	VERB
alkej-160	36	9	the	the	DET
alkej-160	36	10	basic	basic	ADJ
alkej-160	36	11	idea	idea	NOUN
alkej-160	36	12	of	of	ADP
alkej-160	36	13	artificial	artificial	ADJ
alkej-160	36	14	potential	potential	ADJ
alkej-160	36	15	field	field	NOUN
alkej-160	36	16	(	(	PUNCT
alkej-160	36	17	apf	apf	PROPN
alkej-160	36	18	)	)	PUNCT
alkej-160	36	19	method	method	NOUN
alkej-160	36	20	is	be	AUX
alkej-160	36	21	that	that	SCONJ
alkej-160	36	22	the	the	DET
alkej-160	36	23	movement	movement	NOUN
alkej-160	36	24	of	of	ADP
alkej-160	36	25	objects	object	NOUN
alkej-160	36	26	in	in	ADP
alkej-160	36	27	the	the	DET
alkej-160	36	28	environment	environment	NOUN
alkej-160	36	29	is	be	AUX
alkej-160	36	30	considered	consider	VERB
alkej-160	36	31	as	as	ADP
alkej-160	36	32	a	a	DET
alkej-160	36	33	movement	movement	NOUN
alkej-160	36	34	in	in	ADP
alkej-160	36	35	the	the	DET
alkej-160	36	36	abstract	abstract	ADJ
alkej-160	36	37	artificial	artificial	ADJ
alkej-160	36	38	force	force	NOUN
alkej-160	36	39	field	field	NOUN
alkej-160	36	40	,	,	PUNCT
alkej-160	36	41	which	which	PRON
alkej-160	36	42	is	be	AUX
alkej-160	36	43	composed	compose	VERB
alkej-160	36	44	of	of	ADP
alkej-160	36	45	the	the	DET
alkej-160	36	46	attractive	attractive	ADJ
alkej-160	36	47	force	force	NOUN
alkej-160	36	48	field	field	NOUN
alkej-160	36	49	of	of	ADP
alkej-160	36	50	the	the	DET
alkej-160	36	51	target	target	NOUN
alkej-160	36	52	and	and	CCONJ
alkej-160	36	53	repulsive	repulsive	ADJ
alkej-160	36	54	force	force	NOUN
alkej-160	36	55	field	field	NOUN
alkej-160	36	56	of	of	ADP
alkej-160	36	57	the	the	DET
alkej-160	36	58	obstacle	obstacle	NOUN
alkej-160	36	59	.	.	PUNCT
alkej-160	37	1	in	in	ADP
alkej-160	37	2	fact	fact	NOUN
alkej-160	37	3	,	,	PUNCT
alkej-160	37	4	the	the	DET
alkej-160	37	5	robot	robot	NOUN
alkej-160	37	6	descends	descend	VERB
alkej-160	37	7	on	on	ADP
alkej-160	37	8	the	the	DET
alkej-160	37	9	potential	potential	ADJ
alkej-160	37	10	field	field	NOUN
alkej-160	37	11	according	accord	VERB
alkej-160	37	12	to	to	ADP
alkej-160	37	13	gradient	gradient	ADJ
alkej-160	37	14	descent	descent	NOUN
alkej-160	37	15	method	method	NOUN
alkej-160	37	16	to	to	PART
alkej-160	37	17	reach	reach	VERB
alkej-160	37	18	its	its	PRON
alkej-160	37	19	destination	destination	NOUN
alkej-160	37	20	while	while	SCONJ
alkej-160	37	21	avoiding	avoid	VERB
alkej-160	37	22	obstacles	obstacle	NOUN
alkej-160	37	23	[	[	X
alkej-160	37	24	9	9	NUM
alkej-160	37	25	]	]	PUNCT
alkej-160	37	26	.	.	PUNCT
alkej-160	38	1	therefore	therefore	ADV
alkej-160	38	2	,	,	PUNCT
alkej-160	38	3	the	the	DET
alkej-160	38	4	artificial	artificial	ADJ
alkej-160	38	5	potential	potential	ADJ
alkej-160	38	6	field	field	NOUN
alkej-160	38	7	is	be	AUX
alkej-160	38	8	defined	define	VERB
alkej-160	38	9	in	in	ADP
alkej-160	38	10	equation	equation	NOUN
alkej-160	38	11	(	(	PUNCT
alkej-160	38	12	1	1	NUM
alkej-160	38	13	)	)	PUNCT
alkej-160	38	14	.	.	PUNCT
alkej-160	39	1	the	the	DET
alkej-160	39	2	robot	robot	NOUN
alkej-160	39	3	follows	follow	VERB
alkej-160	39	4	this	this	DET
alkej-160	39	5	gradient	gradient	NOUN
alkej-160	39	6	of	of	ADP
alkej-160	39	7	the	the	DET
alkej-160	39	8	field	field	NOUN
alkej-160	39	9	as	as	SCONJ
alkej-160	39	10	shown	show	VERB
alkej-160	39	11	in	in	ADP
alkej-160	39	12	equation	equation	NOUN
alkej-160	39	13	(	(	PUNCT
alkej-160	39	14	2	2	NUM
alkej-160	39	15	)	)	PUNCT
alkej-160	39	16	.	.	PUNCT
alkej-160	40	1	=	=	PUNCT
alkej-160	41	1	+	+	NUM
alkej-160	41	2	…	…	PUNCT
alkej-160	41	3	(	(	PUNCT
alkej-160	41	4	1	1	NUM
alkej-160	41	5	)	)	PUNCT
alkej-160	41	6	=	=	SYM
alkej-160	42	1	−	−	PROPN
alkej-160	42	2	(	(	PUNCT
alkej-160	42	3	+	+	NUM
alkej-160	42	4	)	)	PUNCT
alkej-160	42	5	…	…	PUNCT
alkej-160	42	6	(	(	PUNCT
alkej-160	42	7	2	2	NUM
alkej-160	42	8	)	)	PUNCT
alkej-160	42	9	where	where	SCONJ
alkej-160	42	10	:	:	PUNCT
alkej-160	42	11	is	be	AUX
alkej-160	42	12	the	the	DET
alkej-160	42	13	attractive	attractive	ADJ
alkej-160	42	14	force	force	NOUN
alkej-160	42	15	of	of	ADP
alkej-160	42	16	the	the	DET
alkej-160	42	17	target	target	NOUN
alkej-160	42	18	,	,	PUNCT
alkej-160	42	19	is	be	AUX
alkej-160	42	20	the	the	DET
alkej-160	42	21	repulsive	repulsive	ADJ
alkej-160	42	22	force	force	NOUN
alkej-160	42	23	of	of	ADP
alkej-160	42	24	the	the	DET
alkej-160	42	25	obstacle	obstacle	NOUN
alkej-160	42	26	.	.	PUNCT
alkej-160	43	1	the	the	DET
alkej-160	43	2	attractive	attractive	ADJ
alkej-160	43	3	and	and	CCONJ
alkej-160	43	4	repulsive	repulsive	ADJ
alkej-160	43	5	forces	force	NOUN
alkej-160	43	6	are	be	AUX
alkej-160	43	7	shown	show	VERB
alkej-160	43	8	in	in	ADP
alkej-160	43	9	equations	equation	NOUN
alkej-160	43	10	(	(	PUNCT
alkej-160	43	11	3	3	NUM
alkej-160	43	12	)	)	PUNCT
alkej-160	43	13	and	and	CCONJ
alkej-160	43	14	(	(	PUNCT
alkej-160	43	15	4	4	X
alkej-160	43	16	)	)	PUNCT
alkej-160	43	17	respectively	respectively	ADV
alkej-160	43	18	[	[	X
alkej-160	43	19	10	10	NUM
alkej-160	43	20	]	]	PUNCT
alkej-160	43	21	.	.	PUNCT
alkej-160	44	1	=	=	PUNCT
alkej-160	44	2	(	(	PUNCT
alkej-160	44	3	,	,	PUNCT
alkej-160	44	4	)	)	PUNCT
alkej-160	44	5	…	…	PUNCT
alkej-160	44	6	(	(	PUNCT
alkej-160	44	7	3	3	NUM
alkej-160	44	8	)	)	PUNCT
alkej-160	44	9	=	=	NOUN
alkej-160	44	10	(	(	PUNCT
alkej-160	44	11	(	(	PUNCT
alkej-160	44	12	,	,	PUNCT
alkej-160	44	13	)	)	PUNCT
alkej-160	44	14	−	−	PROPN
alkej-160	44	15	)	)	PUNCT
alkej-160	44	16	,	,	PUNCT
alkej-160	44	17	(	(	PUNCT
alkej-160	44	18	,	,	PUNCT
alkej-160	44	19	)	)	PUNCT
alkej-160	44	20	<	<	X
alkej-160	44	21	,	,	PUNCT
alkej-160	44	22	(	(	PUNCT
alkej-160	44	23	,	,	PUNCT
alkej-160	44	24	)	)	PUNCT
alkej-160	44	25	≥	≥	NOUN
alkej-160	44	26	…	…	PUNCT
alkej-160	44	27	(	(	PUNCT
alkej-160	44	28	4	4	NUM
alkej-160	44	29	)	)	PUNCT
alkej-160	44	30	where	where	SCONJ
alkej-160	44	31	:	:	PUNCT
alkej-160	44	32	and	and	CCONJ
alkej-160	44	33	are	be	AUX
alkej-160	44	34	the	the	DET
alkej-160	44	35	gain	gain	NOUN
alkej-160	44	36	’s	’s	PART
alkej-160	44	37	coefficients	coefficient	NOUN
alkej-160	44	38	of	of	ADP
alkej-160	44	39	attraction	attraction	NOUN
alkej-160	44	40	and	and	CCONJ
alkej-160	44	41	repulsion	repulsion	NOUN
alkej-160	44	42	functions	function	NOUN
alkej-160	44	43	respectively	respectively	ADV
alkej-160	44	44	,	,	PUNCT
alkej-160	44	45	is	be	AUX
alkej-160	44	46	the	the	DET
alkej-160	44	47	largest	large	ADJ
alkej-160	44	48	impact	impact	NOUN
alkej-160	44	49	distance	distance	NOUN
alkej-160	44	50	of	of	ADP
alkej-160	44	51	single	single	ADJ
alkej-160	44	52	obstacle	obstacle	NOUN
alkej-160	44	53	,	,	PUNCT
alkej-160	44	54	(	(	PUNCT
alkej-160	44	55	,	,	PUNCT
alkej-160	44	56	)	)	PUNCT
alkej-160	44	57	is	be	AUX
alkej-160	44	58	the	the	DET
alkej-160	44	59	euclidean	euclidean	ADJ
alkej-160	44	60	distance	distance	NOUN
alkej-160	44	61	between	between	ADP
alkej-160	44	62	the	the	DET
alkej-160	44	63	locations	location	NOUN
alkej-160	44	64	of	of	ADP
alkej-160	44	65	robot	robot	NOUN
alkej-160	44	66	and	and	CCONJ
alkej-160	44	67	the	the	DET
alkej-160	44	68	target	target	NOUN
alkej-160	44	69	,	,	PUNCT
alkej-160	44	70	(	(	PUNCT
alkej-160	44	71	,	,	PUNCT
alkej-160	44	72	)	)	PUNCT
alkej-160	44	73	is	be	AUX
alkej-160	44	74	the	the	DET
alkej-160	44	75	minimum	minimum	ADJ
alkej-160	44	76	distance	distance	NOUN
alkej-160	44	77	between	between	ADP
alkej-160	44	78	the	the	DET
alkej-160	44	79	affected	affect	VERB
alkej-160	44	80	areas	area	NOUN
alkej-160	44	81	of	of	ADP
alkej-160	44	82	obstacle	obstacle	NOUN
alkej-160	44	83	and	and	CCONJ
alkej-160	44	84	the	the	DET
alkej-160	44	85	location	location	NOUN
alkej-160	44	86	of	of	ADP
alkej-160	44	87	the	the	DET
alkej-160	44	88	robot	robot	NOUN
alkej-160	44	89	.	.	PUNCT
alkej-160	45	1	3	3	X
alkej-160	45	2	.	.	X
alkej-160	45	3	problem	problem	NOUN
alkej-160	45	4	description	description	NOUN
alkej-160	45	5	the	the	DET
alkej-160	45	6	problem	problem	NOUN
alkej-160	45	7	is	be	AUX
alkej-160	45	8	how	how	SCONJ
alkej-160	45	9	to	to	PART
alkej-160	45	10	drive	drive	VERB
alkej-160	45	11	a	a	DET
alkej-160	45	12	mobile	mobile	ADJ
alkej-160	45	13	robot	robot	NOUN
alkej-160	45	14	to	to	ADP
alkej-160	45	15	a	a	DET
alkej-160	45	16	certain	certain	ADJ
alkej-160	45	17	target	target	NOUN
alkej-160	45	18	point	point	NOUN
alkej-160	45	19	in	in	ADP
alkej-160	45	20	an	an	DET
alkej-160	45	21	unknown	unknown	ADJ
alkej-160	45	22	environment	environment	NOUN
alkej-160	45	23	without	without	ADP
alkej-160	45	24	any	any	DET
alkej-160	45	25	collision	collision	NOUN
alkej-160	45	26	.	.	PUNCT
alkej-160	46	1	this	this	PRON
alkej-160	46	2	means	mean	VERB
alkej-160	46	3	how	how	SCONJ
alkej-160	46	4	to	to	PART
alkej-160	46	5	make	make	VERB
alkej-160	46	6	the	the	DET
alkej-160	46	7	mobile	mobile	ADJ
alkej-160	46	8	robot	robot	NOUN
alkej-160	46	9	avoids	avoid	VERB
alkej-160	46	10	obstacles	obstacle	NOUN
alkej-160	46	11	online	online	ADV
alkej-160	46	12	based	base	VERB
alkej-160	46	13	on	on	ADP
alkej-160	46	14	the	the	DET
alkej-160	46	15	available	available	ADJ
alkej-160	46	16	infrared	infrared	ADJ
alkej-160	46	17	sensors	sensor	NOUN
alkej-160	46	18	readings	reading	VERB
alkej-160	46	19	only	only	ADV
alkej-160	46	20	.	.	PUNCT
alkej-160	47	1	4	4	X
alkej-160	47	2	.	.	X
alkej-160	47	3	the	the	DET
alkej-160	47	4	robot	robot	NOUN
alkej-160	47	5	and	and	CCONJ
alkej-160	47	6	sensors	sensor	NOUN
alkej-160	47	7	in	in	ADP
alkej-160	47	8	our	our	PRON
alkej-160	47	9	algorithm	algorithm	NOUN
alkej-160	47	10	,	,	PUNCT
alkej-160	47	11	the	the	DET
alkej-160	47	12	robot	robot	NOUN
alkej-160	47	13	is	be	AUX
alkej-160	47	14	modeled	model	VERB
alkej-160	47	15	as	as	ADP
alkej-160	47	16	a	a	DET
alkej-160	47	17	circle	circle	NOUN
alkej-160	47	18	with	with	ADP
alkej-160	47	19	the	the	DET
alkej-160	47	20	ability	ability	NOUN
alkej-160	47	21	of	of	ADP
alkej-160	47	22	turning	turn	VERB
alkej-160	47	23	around	around	ADP
alkej-160	47	24	its	its	PRON
alkej-160	47	25	center	center	NOUN
alkej-160	47	26	,	,	PUNCT
alkej-160	47	27	just	just	ADV
alkej-160	47	28	like	like	ADP
alkej-160	47	29	rover	rover	NOUN
alkej-160	47	30	robots	robot	NOUN
alkej-160	47	31	or	or	CCONJ
alkej-160	47	32	two	two	NUM
alkej-160	47	33	wheel	wheel	NOUN
alkej-160	47	34	robots	robot	NOUN
alkej-160	47	35	as	as	SCONJ
alkej-160	47	36	shown	show	VERB
alkej-160	47	37	in	in	ADP
alkej-160	47	38	figure	figure	NOUN
alkej-160	47	39	(	(	PUNCT
alkej-160	47	40	1	1	NUM
alkej-160	47	41	)	)	PUNCT
alkej-160	47	42	.	.	PUNCT
alkej-160	48	1	the	the	DET
alkej-160	48	2	robot	robot	NOUN
alkej-160	48	3	is	be	AUX
alkej-160	48	4	supplied	supply	VERB
alkej-160	48	5	with	with	ADP
alkej-160	48	6	five	five	NUM
alkej-160	48	7	infrared	infrared	ADJ
alkej-160	48	8	distance	distance	NOUN
alkej-160	48	9	meters	meter	NOUN
alkej-160	48	10	each	each	PRON
alkej-160	48	11	with	with	ADP
alkej-160	48	12	the	the	DET
alkej-160	48	13	range	range	NOUN
alkej-160	48	14	of	of	ADP
alkej-160	48	15	80	80	NUM
alkej-160	48	16	cm	cm	NOUN
alkej-160	48	17	.	.	PUNCT
alkej-160	49	1	the	the	DET
alkej-160	49	2	first	first	ADJ
alkej-160	49	3	sensor	sensor	NOUN
alkej-160	49	4	puts	put	VERB
alkej-160	49	5	on	on	ADP
alkej-160	49	6	the	the	DET
alkej-160	49	7	front	front	NOUN
alkej-160	49	8	of	of	ADP
alkej-160	49	9	the	the	DET
alkej-160	49	10	robot	robot	NOUN
alkej-160	49	11	,	,	PUNCT
alkej-160	49	12	this	this	DET
alkej-160	49	13	sensor	sensor	NOUN
alkej-160	49	14	will	will	AUX
alkej-160	49	15	be	be	AUX
alkej-160	49	16	referred	refer	VERB
alkej-160	49	17	to	to	ADP
alkej-160	49	18	as	as	ADP
alkej-160	49	19	the	the	DET
alkej-160	49	20	“	"	PUNCT
alkej-160	49	21	zero	zero	NUM
alkej-160	49	22	degree	degree	NOUN
alkej-160	49	23	sensor	sensor	NOUN
alkej-160	49	24	”	"	PUNCT
alkej-160	49	25	.	.	PUNCT
alkej-160	50	1	the	the	DET
alkej-160	50	2	reset	reset	ADJ
alkej-160	50	3	four	four	NUM
alkej-160	50	4	sensors	sensor	NOUN
alkej-160	50	5	are	be	AUX
alkej-160	50	6	put	put	VERB
alkej-160	50	7	on	on	ADP
alkej-160	50	8	the	the	DET
alkej-160	50	9	both	both	DET
alkej-160	50	10	sides	side	NOUN
alkej-160	50	11	of	of	ADP
alkej-160	50	12	the	the	DET
alkej-160	50	13	zero	zero	NUM
alkej-160	50	14	degree	degree	NOUN
alkej-160	50	15	sensor	sensor	NOUN
alkej-160	50	16	with	with	ADP
alkej-160	50	17	angle	angle	NOUN
alkej-160	50	18	of	of	ADP
alkej-160	50	19	−40	−40	NOUN
alkej-160	50	20	°	°	NOUN
alkej-160	50	21	,−20	,−20	PUNCT
alkej-160	50	22	°	°	NOUN
alkej-160	50	23	,	,	PUNCT
alkej-160	50	24	20	20	NUM
alkej-160	50	25	°	°	NUM
alkej-160	50	26	and	and	CCONJ
alkej-160	50	27	40	40	NUM
alkej-160	50	28	°	°	NOUN
alkej-160	50	29	.the	.the	PUNCT
alkej-160	50	30	robot	robot	NOUN
alkej-160	50	31	model	model	NOUN
alkej-160	50	32	is	be	AUX
alkej-160	50	33	shown	show	VERB
alkej-160	50	34	in	in	ADP
alkej-160	50	35	figure	figure	NOUN
alkej-160	50	36	(	(	PUNCT
alkej-160	50	37	2	2	NUM
alkej-160	50	38	)	)	PUNCT
alkej-160	50	39	.	.	PUNCT
alkej-160	51	1	fig	fig	NOUN
alkej-160	51	2	.	.	PUNCT
alkej-160	52	1	1	1	X
alkej-160	52	2	.	.	X
alkej-160	52	3	rover	rover	PROPN
alkej-160	52	4	mobile	mobile	PROPN
alkej-160	52	5	robot	robot	NOUN
alkej-160	52	6	.	.	PUNCT
alkej-160	53	1	mohamed	mohamed	PROPN
alkej-160	53	2	jasim	jasim	PROPN
alkej-160	53	3	mohamed	mohamed	PROPN
alkej-160	53	4	al	al	PROPN
alkej-160	53	5	-	-	PUNCT
alkej-160	53	6	khwarizmi	khwarizmi	PROPN
alkej-160	53	7	engineering	engineering	NOUN
alkej-160	53	8	journal	journal	PROPN
alkej-160	53	9	,	,	PUNCT
alkej-160	53	10	vol	vol	NOUN
alkej-160	53	11	.	.	NOUN
alkej-160	53	12	9	9	NUM
alkej-160	53	13	,	,	PUNCT
alkej-160	53	14	no.1	no.1	NUM
alkej-160	53	15	,	,	PUNCT
alkej-160	53	16	p.p.71	p.p.71	NOUN
alkej-160	53	17	-	-	PUNCT
alkej-160	53	18	82	82	NUM
alkej-160	53	19	(	(	PUNCT
alkej-160	53	20	2013	2013	NUM
alkej-160	53	21	)	)	PUNCT
alkej-160	53	22	73	73	NUM
alkej-160	53	23	5	5	NUM
alkej-160	53	24	.	.	PUNCT
alkej-160	53	25	proposed	propose	VERB
alkej-160	53	26	algorithm	algorithm	NOUN
alkej-160	53	27	the	the	DET
alkej-160	53	28	proposed	propose	VERB
alkej-160	53	29	algorithm	algorithm	NOUN
alkej-160	53	30	is	be	AUX
alkej-160	53	31	based	base	VERB
alkej-160	53	32	on	on	ADP
alkej-160	53	33	the	the	DET
alkej-160	53	34	principles	principle	NOUN
alkej-160	53	35	of	of	ADP
alkej-160	53	36	artificial	artificial	ADJ
alkej-160	53	37	potential	potential	ADJ
alkej-160	53	38	field	field	NOUN
alkej-160	53	39	path	path	NOUN
alkej-160	53	40	planning	planning	NOUN
alkej-160	53	41	and	and	CCONJ
alkej-160	53	42	our	our	PRON
alkej-160	53	43	proposed	propose	VERB
alkej-160	53	44	ideas	idea	NOUN
alkej-160	53	45	.	.	PUNCT
alkej-160	54	1	these	these	DET
alkej-160	54	2	ideas	idea	NOUN
alkej-160	54	3	are	be	AUX
alkej-160	54	4	suggested	suggest	VERB
alkej-160	54	5	to	to	PART
alkej-160	54	6	overcome	overcome	VERB
alkej-160	54	7	the	the	DET
alkej-160	54	8	lack	lack	NOUN
alkej-160	54	9	of	of	ADP
alkej-160	54	10	the	the	DET
alkej-160	54	11	artificial	artificial	ADJ
alkej-160	54	12	potential	potential	ADJ
alkej-160	54	13	field	field	NOUN
alkej-160	54	14	and	and	CCONJ
alkej-160	54	15	to	to	PART
alkej-160	54	16	ensure	ensure	VERB
alkej-160	54	17	a	a	DET
alkej-160	54	18	reliable	reliable	ADJ
alkej-160	54	19	on	on	ADP
alkej-160	54	20	-	-	PUNCT
alkej-160	54	21	line	line	NOUN
alkej-160	54	22	path	path	NOUN
alkej-160	54	23	planning	planning	NOUN
alkej-160	54	24	.	.	PUNCT
alkej-160	55	1	the	the	DET
alkej-160	55	2	proposed	propose	VERB
alkej-160	55	3	algorithm	algorithm	NOUN
alkej-160	55	4	is	be	AUX
alkej-160	55	5	presented	present	VERB
alkej-160	55	6	as	as	ADP
alkej-160	55	7	a	a	DET
alkej-160	55	8	sequence	sequence	NOUN
alkej-160	55	9	of	of	ADP
alkej-160	55	10	steps	step	NOUN
alkej-160	55	11	as	as	ADP
alkej-160	55	12	follow	follow	VERB
alkej-160	55	13	.	.	PUNCT
alkej-160	56	1	5.1	5.1	NUM
alkej-160	56	2	.	.	PUNCT
alkej-160	57	1	attractive	attractive	ADJ
alkej-160	57	2	force	force	NOUN
alkej-160	57	3	calculations	calculation	NOUN
alkej-160	57	4	before	before	SCONJ
alkej-160	57	5	the	the	DET
alkej-160	57	6	robot	robot	NOUN
alkej-160	57	7	starts	start	VERB
alkej-160	57	8	to	to	PART
alkej-160	57	9	move	move	VERB
alkej-160	57	10	the	the	DET
alkej-160	57	11	gradient	gradient	ADJ
alkej-160	57	12	descent	descent	NOUN
alkej-160	57	13	of	of	ADP
alkej-160	57	14	attractive	attractive	ADJ
alkej-160	57	15	force	force	NOUN
alkej-160	57	16	is	be	AUX
alkej-160	57	17	calculated	calculate	VERB
alkej-160	57	18	;	;	PUNCT
alkej-160	57	19	then	then	ADV
alkej-160	57	20	according	accord	VERB
alkej-160	57	21	to	to	ADP
alkej-160	57	22	this	this	DET
alkej-160	57	23	gradient	gradient	NOUN
alkej-160	57	24	,	,	PUNCT
alkej-160	57	25	the	the	DET
alkej-160	57	26	robot	robot	NOUN
alkej-160	57	27	is	be	AUX
alkej-160	57	28	directed	direct	VERB
alkej-160	57	29	toward	toward	ADP
alkej-160	57	30	the	the	DET
alkej-160	57	31	point	point	NOUN
alkej-160	57	32	of	of	ADP
alkej-160	57	33	target	target	NOUN
alkej-160	57	34	.	.	PUNCT
alkej-160	58	1	the	the	DET
alkej-160	58	2	proposed	propose	VERB
alkej-160	58	3	and	and	CCONJ
alkej-160	58	4	used	use	VERB
alkej-160	58	5	attractive	attractive	ADJ
alkej-160	58	6	force	force	NOUN
alkej-160	58	7	shown	show	VERB
alkej-160	58	8	in	in	ADP
alkej-160	58	9	equation	equation	NOUN
alkej-160	58	10	(	(	PUNCT
alkej-160	58	11	5	5	NUM
alkej-160	58	12	)	)	PUNCT
alkej-160	58	13	has	have	VERB
alkej-160	58	14	small	small	ADJ
alkej-160	58	15	deference	deference	NOUN
alkej-160	58	16	from	from	ADP
alkej-160	58	17	the	the	DET
alkej-160	58	18	conventional	conventional	ADJ
alkej-160	58	19	equation	equation	NOUN
alkej-160	58	20	shown	show	VERB
alkej-160	58	21	in	in	ADP
alkej-160	58	22	(	(	PUNCT
alkej-160	58	23	3	3	NUM
alkej-160	58	24	)	)	PUNCT
alkej-160	58	25	.	.	PUNCT
alkej-160	59	1	as	as	SCONJ
alkej-160	59	2	shown	show	VERB
alkej-160	59	3	in	in	ADP
alkej-160	59	4	equation	equation	NOUN
alkej-160	59	5	(	(	PUNCT
alkej-160	59	6	3	3	NUM
alkej-160	59	7	)	)	PUNCT
alkej-160	59	8	,	,	PUNCT
alkej-160	59	9	the	the	DET
alkej-160	59	10	different	different	ADJ
alkej-160	59	11	term	term	NOUN
alkej-160	59	12	is	be	AUX
alkej-160	59	13	the	the	DET
alkej-160	59	14	square	square	NOUN
alkej-160	59	15	of	of	ADP
alkej-160	59	16	the	the	DET
alkej-160	59	17	distance	distance	NOUN
alkej-160	59	18	between	between	ADP
alkej-160	59	19	the	the	DET
alkej-160	59	20	robot	robot	NOUN
alkej-160	59	21	and	and	CCONJ
alkej-160	59	22	the	the	DET
alkej-160	59	23	position	position	NOUN
alkej-160	59	24	of	of	ADP
alkej-160	59	25	the	the	DET
alkej-160	59	26	target	target	NOUN
alkej-160	59	27	,	,	PUNCT
alkej-160	59	28	while	while	SCONJ
alkej-160	59	29	for	for	ADP
alkej-160	59	30	the	the	DET
alkej-160	59	31	used	use	VERB
alkej-160	59	32	attractive	attractive	ADJ
alkej-160	59	33	force	force	NOUN
alkej-160	59	34	in	in	ADP
alkej-160	59	35	equation	equation	NOUN
alkej-160	59	36	(	(	PUNCT
alkej-160	59	37	5	5	X
alkej-160	59	38	)	)	PUNCT
alkej-160	59	39	this	this	DET
alkej-160	59	40	term	term	NOUN
alkej-160	59	41	is	be	AUX
alkej-160	59	42	only	only	ADV
alkej-160	59	43	the	the	DET
alkej-160	59	44	distance	distance	NOUN
alkej-160	59	45	from	from	ADP
alkej-160	59	46	the	the	DET
alkej-160	59	47	robot	robot	NOUN
alkej-160	59	48	to	to	ADP
alkej-160	59	49	the	the	DET
alkej-160	59	50	position	position	NOUN
alkej-160	59	51	of	of	ADP
alkej-160	59	52	the	the	DET
alkej-160	59	53	target	target	NOUN
alkej-160	59	54	.	.	PUNCT
alkej-160	60	1	this	this	DET
alkej-160	60	2	function	function	NOUN
alkej-160	60	3	is	be	AUX
alkej-160	60	4	chosen	choose	VERB
alkej-160	60	5	to	to	PART
alkej-160	60	6	give	give	VERB
alkej-160	60	7	the	the	DET
alkej-160	60	8	robot	robot	NOUN
alkej-160	60	9	more	more	ADJ
alkej-160	60	10	allowance	allowance	NOUN
alkej-160	60	11	to	to	PART
alkej-160	60	12	move	move	VERB
alkej-160	60	13	around	around	ADP
alkej-160	60	14	the	the	DET
alkej-160	60	15	target	target	NOUN
alkej-160	60	16	and	and	CCONJ
alkej-160	60	17	even	even	ADV
alkej-160	60	18	go	go	VERB
alkej-160	60	19	in	in	ADP
alkej-160	60	20	the	the	DET
alkej-160	60	21	reverse	reverse	ADJ
alkej-160	60	22	direction	direction	NOUN
alkej-160	60	23	when	when	SCONJ
alkej-160	60	24	that	that	PRON
alkej-160	60	25	is	be	AUX
alkej-160	60	26	necessary	necessary	ADJ
alkej-160	60	27	.	.	PUNCT
alkej-160	61	1	(	(	PUNCT
alkej-160	61	2	)	)	PUNCT
alkej-160	61	3	=	=	SYM
alkej-160	61	4	(	(	PUNCT
alkej-160	61	5	,	,	PUNCT
alkej-160	61	6	)	)	PUNCT
alkej-160	61	7	…	…	PUNCT
alkej-160	61	8	(	(	PUNCT
alkej-160	61	9	5	5	NUM
alkej-160	61	10	)	)	PUNCT
alkej-160	61	11	in	in	ADP
alkej-160	61	12	equation	equation	NOUN
alkej-160	61	13	(	(	PUNCT
alkej-160	61	14	5	5	NUM
alkej-160	61	15	)	)	PUNCT
alkej-160	61	16	and	and	CCONJ
alkej-160	61	17	are	be	AUX
alkej-160	61	18	the	the	DET
alkej-160	61	19	position	position	NOUN
alkej-160	61	20	of	of	ADP
alkej-160	61	21	the	the	DET
alkej-160	61	22	robot	robot	NOUN
alkej-160	61	23	and	and	CCONJ
alkej-160	61	24	the	the	DET
alkej-160	61	25	position	position	NOUN
alkej-160	61	26	of	of	ADP
alkej-160	61	27	target	target	NOUN
alkej-160	61	28	respectively	respectively	ADV
alkej-160	61	29	.	.	PUNCT
alkej-160	62	1	the	the	DET
alkej-160	62	2	gradient	gradient	NOUN
alkej-160	62	3	of	of	ADP
alkej-160	62	4	the	the	DET
alkej-160	62	5	attractive	attractive	ADJ
alkej-160	62	6	force	force	NOUN
alkej-160	62	7	is	be	AUX
alkej-160	62	8	illustrated	illustrate	VERB
alkej-160	62	9	in	in	ADP
alkej-160	62	10	equation	equation	NOUN
alkej-160	62	11	(	(	PUNCT
alkej-160	62	12	6	6	NUM
alkej-160	62	13	)	)	PUNCT
alkej-160	62	14	.	.	PUNCT
alkej-160	63	1	(	(	PUNCT
alkej-160	63	2	)	)	PUNCT
alkej-160	63	3	=	=	SYM
alkej-160	63	4	(	(	PUNCT
alkej-160	63	5	,	,	PUNCT
alkej-160	63	6	)	)	PUNCT
alkej-160	63	7	…	…	PUNCT
alkej-160	63	8	(	(	PUNCT
alkej-160	63	9	6	6	NUM
alkej-160	63	10	)	)	PUNCT
alkej-160	63	11	the	the	DET
alkej-160	63	12	scaling	scale	VERB
alkej-160	63	13	factor	factor	NOUN
alkej-160	63	14	is	be	AUX
alkej-160	63	15	used	use	VERB
alkej-160	63	16	to	to	PART
alkej-160	63	17	increase	increase	VERB
alkej-160	63	18	the	the	DET
alkej-160	63	19	effect	effect	NOUN
alkej-160	63	20	of	of	ADP
alkej-160	63	21	attractive	attractive	ADJ
alkej-160	63	22	force	force	NOUN
alkej-160	63	23	and	and	CCONJ
alkej-160	63	24	to	to	PART
alkej-160	63	25	prevent	prevent	VERB
alkej-160	63	26	the	the	DET
alkej-160	63	27	sharp	sharp	ADJ
alkej-160	63	28	redirection	redirection	NOUN
alkej-160	63	29	that	that	PRON
alkej-160	63	30	may	may	AUX
alkej-160	63	31	cause	cause	VERB
alkej-160	63	32	by	by	ADP
alkej-160	63	33	large	large	ADJ
alkej-160	63	34	repulsive	repulsive	ADJ
alkej-160	63	35	forces	force	NOUN
alkej-160	63	36	in	in	ADP
alkej-160	63	37	some	some	DET
alkej-160	63	38	cases	case	NOUN
alkej-160	63	39	.	.	PUNCT
alkej-160	64	1	the	the	DET
alkej-160	64	2	factor	factor	NOUN
alkej-160	64	3	is	be	AUX
alkej-160	64	4	chosen	choose	VERB
alkej-160	64	5	to	to	PART
alkej-160	64	6	be	be	AUX
alkej-160	64	7	2	2	NUM
alkej-160	64	8	.	.	PUNCT
alkej-160	65	1	this	this	DET
alkej-160	65	2	choice	choice	NOUN
alkej-160	65	3	is	be	AUX
alkej-160	65	4	based	base	VERB
alkej-160	65	5	on	on	ADP
alkej-160	65	6	the	the	DET
alkej-160	65	7	system	system	NOUN
alkej-160	65	8	observation	observation	NOUN
alkej-160	65	9	and	and	CCONJ
alkej-160	65	10	the	the	DET
alkej-160	65	11	maximum	maximum	ADJ
alkej-160	65	12	resultant	resultant	VERB
alkej-160	65	13	repulsive	repulsive	ADJ
alkej-160	65	14	force	force	NOUN
alkej-160	65	15	that	that	PRON
alkej-160	65	16	could	could	AUX
alkej-160	65	17	apply	apply	VERB
alkej-160	65	18	on	on	ADP
alkej-160	65	19	the	the	DET
alkej-160	65	20	robot	robot	NOUN
alkej-160	65	21	.	.	PUNCT
alkej-160	66	1	5.2	5.2	NUM
alkej-160	66	2	.	.	PUNCT
alkej-160	67	1	collision	collision	NOUN
alkej-160	67	2	detection	detection	NOUN
alkej-160	67	3	after	after	SCONJ
alkej-160	67	4	the	the	DET
alkej-160	67	5	attractive	attractive	ADJ
alkej-160	67	6	force	force	NOUN
alkej-160	67	7	of	of	ADP
alkej-160	67	8	target	target	NOUN
alkej-160	67	9	point	point	NOUN
alkej-160	67	10	is	be	AUX
alkej-160	67	11	calculated	calculate	VERB
alkej-160	67	12	and	and	CCONJ
alkej-160	67	13	the	the	DET
alkej-160	67	14	robot	robot	NOUN
alkej-160	67	15	is	be	AUX
alkej-160	67	16	directed	direct	VERB
alkej-160	67	17	according	accord	VERB
alkej-160	67	18	to	to	ADP
alkej-160	67	19	gradient	gradient	NOUN
alkej-160	67	20	of	of	ADP
alkej-160	67	21	this	this	DET
alkej-160	67	22	force	force	NOUN
alkej-160	67	23	,	,	PUNCT
alkej-160	67	24	the	the	DET
alkej-160	67	25	statuses	status	NOUN
alkej-160	67	26	of	of	ADP
alkej-160	67	27	sensors	sensor	NOUN
alkej-160	67	28	are	be	AUX
alkej-160	67	29	checked	check	VERB
alkej-160	67	30	to	to	PART
alkej-160	67	31	get	get	VERB
alkej-160	67	32	the	the	DET
alkej-160	67	33	information	information	NOUN
alkej-160	67	34	about	about	ADP
alkej-160	67	35	any	any	DET
alkej-160	67	36	possible	possible	ADJ
alkej-160	67	37	collision	collision	NOUN
alkej-160	67	38	.	.	PUNCT
alkej-160	68	1	although	although	SCONJ
alkej-160	68	2	the	the	DET
alkej-160	68	3	sensors	sensor	NOUN
alkej-160	68	4	may	may	AUX
alkej-160	68	5	detect	detect	VERB
alkej-160	68	6	many	many	ADJ
alkej-160	68	7	obstacles	obstacle	NOUN
alkej-160	68	8	,	,	PUNCT
alkej-160	68	9	not	not	PART
alkej-160	68	10	all	all	PRON
alkej-160	68	11	of	of	ADP
alkej-160	68	12	these	these	DET
alkej-160	68	13	detected	detect	VERB
alkej-160	68	14	obstacles	obstacle	NOUN
alkej-160	68	15	are	be	AUX
alkej-160	68	16	considered	consider	VERB
alkej-160	68	17	to	to	PART
alkej-160	68	18	make	make	VERB
alkej-160	68	19	collisions	collision	NOUN
alkej-160	68	20	.	.	PUNCT
alkej-160	69	1	in	in	ADP
alkej-160	69	2	fact	fact	NOUN
alkej-160	69	3	,	,	PUNCT
alkej-160	69	4	the	the	DET
alkej-160	69	5	detected	detect	VERB
alkej-160	69	6	obstacles	obstacle	NOUN
alkej-160	69	7	are	be	AUX
alkej-160	69	8	elected	elect	VERB
alkej-160	69	9	as	as	ADP
alkej-160	69	10	possible	possible	ADJ
alkej-160	69	11	collision	collision	NOUN
alkej-160	69	12	points	point	NOUN
alkej-160	69	13	.	.	PUNCT
alkej-160	70	1	the	the	DET
alkej-160	70	2	detected	detect	VERB
alkej-160	70	3	point	point	NOUN
alkej-160	70	4	/	/	SYM
alkej-160	70	5	points	point	NOUN
alkej-160	70	6	is	be	AUX
alkej-160	70	7	/	/	PUNCT
alkej-160	70	8	are	be	AUX
alkej-160	70	9	defined	define	VERB
alkej-160	70	10	as	as	ADP
alkej-160	70	11	collision	collision	NOUN
alkej-160	70	12	point	point	NOUN
alkej-160	70	13	/	/	SYM
alkej-160	70	14	points	point	NOUN
alkej-160	70	15	,	,	PUNCT
alkej-160	70	16	if	if	SCONJ
alkej-160	70	17	and	and	CCONJ
alkej-160	70	18	only	only	ADV
alkej-160	70	19	if	if	SCONJ
alkej-160	70	20	the	the	DET
alkej-160	70	21	conditions	condition	NOUN
alkej-160	70	22	(	(	PUNCT
alkej-160	70	23	7	7	NUM
alkej-160	70	24	)	)	PUNCT
alkej-160	70	25	and	and	CCONJ
alkej-160	70	26	(	(	PUNCT
alkej-160	70	27	8)	8)	NUM
alkej-160	70	28	are	be	AUX
alkej-160	70	29	satisfied	satisfied	ADJ
alkej-160	70	30	.	.	PUNCT
alkej-160	71	1	×	×	NOUN
alkej-160	71	2	(	(	PUNCT
alkej-160	71	3	)	)	PUNCT
alkej-160	71	4	≤	≤	NOUN
alkej-160	71	5	...	...	PUNCT
alkej-160	71	6	(	(	PUNCT
alkej-160	71	7	7	7	X
alkej-160	71	8	)	)	PUNCT
alkej-160	71	9	×	×	NOUN
alkej-160	71	10	(	(	PUNCT
alkej-160	71	11	)	)	PUNCT
alkej-160	71	12	≤	≤	NOUN
alkej-160	71	13	…	…	PUNCT
alkej-160	71	14	(	(	PUNCT
alkej-160	71	15	8)	8)	NUM
alkej-160	71	16	in	in	ADP
alkej-160	71	17	equation	equation	NOUN
alkej-160	71	18	(	(	PUNCT
alkej-160	71	19	7	7	NUM
alkej-160	71	20	)	)	PUNCT
alkej-160	71	21	and	and	CCONJ
alkej-160	71	22	(	(	PUNCT
alkej-160	71	23	8)	8)	NUM
alkej-160	71	24	is	be	AUX
alkej-160	71	25	the	the	DET
alkej-160	71	26	distance	distance	NOUN
alkej-160	71	27	detected	detect	VERB
alkej-160	71	28	by	by	ADP
alkej-160	71	29	the	the	DET
alkej-160	71	30	sensor	sensor	NOUN
alkej-160	71	31	and	and	CCONJ
alkej-160	71	32	is	be	AUX
alkej-160	71	33	the	the	DET
alkej-160	71	34	angle	angle	NOUN
alkej-160	71	35	of	of	ADP
alkej-160	71	36	the	the	DET
alkej-160	71	37	sensor	sensor	NOUN
alkej-160	71	38	that	that	PRON
alkej-160	71	39	detects	detect	VERB
alkej-160	71	40	this	this	DET
alkej-160	71	41	distance	distance	NOUN
alkej-160	71	42	.	.	PUNCT
alkej-160	72	1	the	the	DET
alkej-160	72	2	robot	robot	NOUN
alkej-160	72	3	step	step	NOUN
alkej-160	72	4	size	size	NOUN
alkej-160	72	5	is	be	AUX
alkej-160	72	6	the	the	DET
alkej-160	72	7	straight	straight	ADJ
alkej-160	72	8	distance	distance	NOUN
alkej-160	72	9	that	that	SCONJ
alkej-160	72	10	the	the	DET
alkej-160	72	11	robot	robot	NOUN
alkej-160	72	12	moves	move	VERB
alkej-160	72	13	through	through	ADP
alkej-160	72	14	it	it	PRON
alkej-160	72	15	after	after	ADP
alkej-160	72	16	the	the	DET
alkej-160	72	17	direction	direction	NOUN
alkej-160	72	18	of	of	ADP
alkej-160	72	19	the	the	DET
alkej-160	72	20	robot	robot	NOUN
alkej-160	72	21	is	be	AUX
alkej-160	72	22	specified	specify	VERB
alkej-160	72	23	base	base	NOUN
alkej-160	72	24	on	on	ADP
alkej-160	72	25	the	the	DET
alkej-160	72	26	forces	force	NOUN
alkej-160	72	27	applied	apply	VERB
alkej-160	72	28	on	on	ADP
alkej-160	72	29	it	it	PRON
alkej-160	72	30	.	.	PUNCT
alkej-160	73	1	step	step	NOUN
alkej-160	73	2	size	size	NOUN
alkej-160	73	3	is	be	AUX
alkej-160	73	4	initialized	initialize	VERB
alkej-160	73	5	at	at	ADP
alkej-160	73	6	first	first	ADV
alkej-160	73	7	to	to	ADP
alkej-160	73	8	a	a	DET
alkej-160	73	9	distance	distance	NOUN
alkej-160	73	10	equal	equal	ADJ
alkej-160	73	11	to	to	ADP
alkej-160	73	12	sensor	sensor	NOUN
alkej-160	73	13	range	range	NOUN
alkej-160	73	14	(	(	PUNCT
alkej-160	73	15	80	80	NUM
alkej-160	73	16	cm	cm	NOUN
alkej-160	73	17	)	)	PUNCT
alkej-160	73	18	.	.	PUNCT
alkej-160	74	1	the	the	DET
alkej-160	74	2	above	above	ADJ
alkej-160	74	3	two	two	NUM
alkej-160	74	4	conditions	condition	NOUN
alkej-160	74	5	are	be	AUX
alkej-160	74	6	better	well	ADV
alkej-160	74	7	illustrated	illustrate	VERB
alkej-160	74	8	in	in	ADP
alkej-160	74	9	figure	figure	NOUN
alkej-160	74	10	(	(	PUNCT
alkej-160	74	11	3	3	NUM
alkej-160	74	12	)	)	PUNCT
alkej-160	74	13	.	.	PUNCT
alkej-160	75	1	fig	fig	NOUN
alkej-160	75	2	.	.	PUNCT
alkej-160	76	1	3	3	X
alkej-160	76	2	.	.	X
alkej-160	76	3	collision	collision	NOUN
alkej-160	76	4	points	point	NOUN
alkej-160	77	1	=	=	SYM
alkej-160	77	2	×	×	NOUN
alkej-160	77	3	(	(	PUNCT
alkej-160	77	4	°	°	PROPN
alkej-160	77	5	)	)	PUNCT
alkej-160	77	6	,	,	PUNCT
alkej-160	77	7	=	=	SYM
alkej-160	77	8	×	×	NOUN
alkej-160	77	9	(	(	PUNCT
alkej-160	77	10	°	°	NOUN
alkej-160	77	11	)	)	PUNCT
alkej-160	77	12	.	.	PUNCT
alkej-160	78	1	fig	fig	NOUN
alkej-160	78	2	.	.	PUNCT
alkej-160	79	1	2	2	X
alkej-160	79	2	.	.	X
alkej-160	79	3	robot	robot	NOUN
alkej-160	79	4	model	model	PROPN
alkej-160	79	5	.	.	PUNCT
alkej-160	80	1	80	80	NUM
alkej-160	80	2	cm	cm	NOUN
alkej-160	80	3	0	0	NUM
alkej-160	80	4	°	°	PRON
alkej-160	80	5	sensor	sensor	NOUN
alkej-160	80	6	20	20	NUM
alkej-160	80	7	°	°	PART
alkej-160	80	8	sensor	sensor	NOUN
alkej-160	80	9	40	40	NUM
alkej-160	80	10	°	°	ADP
alkej-160	80	11	sensor	sensor	NOUN
alkej-160	80	12	−20	−20	NOUN
alkej-160	80	13	°	°	ADP
alkej-160	80	14	sensor	sensor	NOUN
alkej-160	80	15	−40	−40	NOUN
alkej-160	80	16	°	°	ADP
alkej-160	80	17	sensor	sensor	NOUN
alkej-160	80	18	detected	detect	VERB
alkej-160	80	19	point	point	NOUN
alkej-160	80	20	d	d	X
alkej-160	80	21	dw	dw	PROPN
alkej-160	80	22	dl	dl	PROPN
alkej-160	80	23	≤	≤	PROPN
alkej-160	80	24	detected	detect	VERB
alkej-160	80	25	point	point	NOUN
alkej-160	80	26	=	=	NOUN
alkej-160	80	27	collision	collision	NOUN
alkej-160	80	28	point	point	NOUN
alkej-160	80	29	if	if	SCONJ
alkej-160	80	30	:	:	PUNCT
alkej-160	80	31	≤	≤	NOUN
alkej-160	80	32	,	,	PUNCT
alkej-160	80	33	mohamed	mohamed	PROPN
alkej-160	80	34	jasim	jasim	PROPN
alkej-160	80	35	mohamed	mohamed	PROPN
alkej-160	80	36	al	al	PROPN
alkej-160	80	37	-	-	PUNCT
alkej-160	80	38	khwarizmi	khwarizmi	PROPN
alkej-160	80	39	engineering	engineering	NOUN
alkej-160	80	40	journal	journal	PROPN
alkej-160	80	41	,	,	PUNCT
alkej-160	80	42	vol	vol	NOUN
alkej-160	80	43	.	.	NOUN
alkej-160	80	44	9	9	NUM
alkej-160	80	45	,	,	PUNCT
alkej-160	80	46	no.1	no.1	NUM
alkej-160	80	47	,	,	PUNCT
alkej-160	80	48	p.p.71	p.p.71	NOUN
alkej-160	80	49	-	-	PUNCT
alkej-160	80	50	82	82	NUM
alkej-160	80	51	(	(	PUNCT
alkej-160	80	52	2013	2013	NUM
alkej-160	80	53	)	)	PUNCT
alkej-160	80	54	74	74	NUM
alkej-160	80	55	5.3	5.3	NUM
alkej-160	80	56	.	.	PUNCT
alkej-160	81	1	repulsive	repulsive	ADJ
alkej-160	81	2	force	force	NOUN
alkej-160	81	3	calculations	calculation	NOUN
alkej-160	81	4	when	when	SCONJ
alkej-160	81	5	the	the	DET
alkej-160	81	6	collision	collision	NOUN
alkej-160	81	7	point	point	NOUN
alkej-160	81	8	/	/	SYM
alkej-160	81	9	points	point	NOUN
alkej-160	81	10	is	be	AUX
alkej-160	81	11	/	/	PUNCT
alkej-160	81	12	are	be	AUX
alkej-160	81	13	specified	specify	VERB
alkej-160	81	14	the	the	DET
alkej-160	81	15	repulsive	repulsive	ADJ
alkej-160	81	16	force	force	NOUN
alkej-160	81	17	from	from	ADP
alkej-160	81	18	this	this	PRON
alkej-160	81	19	/	/	PUNCT
alkej-160	81	20	these	these	DET
alkej-160	81	21	point	point	NOUN
alkej-160	81	22	/	/	SYM
alkej-160	81	23	points	point	NOUN
alkej-160	81	24	is	be	AUX
alkej-160	81	25	/	/	PUNCT
alkej-160	81	26	are	be	AUX
alkej-160	81	27	calculated	calculate	VERB
alkej-160	81	28	according	accord	VERB
alkej-160	81	29	to	to	ADP
alkej-160	81	30	equation	equation	NOUN
alkej-160	81	31	(	(	PUNCT
alkej-160	81	32	9	9	NUM
alkej-160	81	33	)	)	PUNCT
alkej-160	81	34	.	.	PUNCT
alkej-160	82	1	(	(	PUNCT
alkej-160	82	2	)	)	PUNCT
alkej-160	82	3	=	=	SYM
alkej-160	82	4	∑	∑	PUNCT
alkej-160	82	5	(	(	PUNCT
alkej-160	82	6	,	,	PUNCT
alkej-160	82	7	)	)	PUNCT
alkej-160	82	8	…	…	PUNCT
alkej-160	82	9	(	(	PUNCT
alkej-160	82	10	9	9	NUM
alkej-160	82	11	)	)	PUNCT
alkej-160	82	12	where	where	SCONJ
alkej-160	82	13	:	:	PUNCT
alkej-160	82	14	is	be	AUX
alkej-160	82	15	the	the	DET
alkej-160	82	16	position	position	NOUN
alkej-160	82	17	of	of	ADP
alkej-160	82	18	robot	robot	NOUN
alkej-160	82	19	,	,	PUNCT
alkej-160	82	20	are	be	AUX
alkej-160	82	21	the	the	DET
alkej-160	82	22	positions	position	NOUN
alkej-160	82	23	of	of	ADP
alkej-160	82	24	collision	collision	NOUN
alkej-160	82	25	points	point	NOUN
alkej-160	82	26	and	and	CCONJ
alkej-160	82	27	is	be	AUX
alkej-160	82	28	the	the	DET
alkej-160	82	29	number	number	NOUN
alkej-160	82	30	of	of	ADP
alkej-160	82	31	detected	detect	VERB
alkej-160	82	32	collision	collision	NOUN
alkej-160	82	33	points	point	NOUN
alkej-160	82	34	.	.	PUNCT
alkej-160	83	1	equation	equation	NOUN
alkej-160	83	2	(	(	PUNCT
alkej-160	83	3	10	10	NUM
alkej-160	83	4	)	)	PUNCT
alkej-160	83	5	shows	show	VERB
alkej-160	83	6	the	the	DET
alkej-160	83	7	gradient	gradient	NOUN
alkej-160	83	8	of	of	ADP
alkej-160	83	9	the	the	DET
alkej-160	83	10	repulsive	repulsive	ADJ
alkej-160	83	11	force	force	NOUN
alkej-160	83	12	.	.	PUNCT
alkej-160	84	1	(	(	PUNCT
alkej-160	84	2	)	)	PUNCT
alkej-160	84	3	=	=	PUNCT
alkej-160	84	4	∑	∑	PUNCT
alkej-160	84	5	−	−	PROPN
alkej-160	84	6	(	(	PUNCT
alkej-160	84	7	)	)	PUNCT
alkej-160	84	8	(	(	PUNCT
alkej-160	84	9	,	,	PUNCT
alkej-160	84	10	)	)	PUNCT
alkej-160	84	11	…	…	PUNCT
alkej-160	84	12	(	(	PUNCT
alkej-160	84	13	10	10	NUM
alkej-160	84	14	)	)	PUNCT
alkej-160	84	15	the	the	DET
alkej-160	84	16	deference	deference	NOUN
alkej-160	84	17	between	between	ADP
alkej-160	84	18	the	the	DET
alkej-160	84	19	proposed	propose	VERB
alkej-160	84	20	and	and	CCONJ
alkej-160	84	21	the	the	DET
alkej-160	84	22	traditional	traditional	ADJ
alkej-160	84	23	equations	equation	NOUN
alkej-160	84	24	of	of	ADP
alkej-160	84	25	repulsive	repulsive	ADJ
alkej-160	84	26	force	force	NOUN
alkej-160	84	27	is	be	AUX
alkej-160	84	28	that	that	SCONJ
alkej-160	84	29	the	the	DET
alkej-160	84	30	largest	large	ADJ
alkej-160	84	31	impact	impact	NOUN
alkej-160	84	32	distance	distance	NOUN
alkej-160	84	33	of	of	ADP
alkej-160	84	34	single	single	ADJ
alkej-160	84	35	obstacle	obstacle	NOUN
alkej-160	84	36	is	be	AUX
alkej-160	84	37	removed	remove	VERB
alkej-160	84	38	in	in	ADP
alkej-160	84	39	the	the	DET
alkej-160	84	40	proposed	propose	VERB
alkej-160	84	41	equation	equation	NOUN
alkej-160	84	42	of	of	ADP
alkej-160	84	43	repulsive	repulsive	ADJ
alkej-160	84	44	force	force	NOUN
alkej-160	84	45	.	.	PUNCT
alkej-160	85	1	the	the	DET
alkej-160	85	2	reason	reason	NOUN
alkej-160	85	3	for	for	ADP
alkej-160	85	4	this	this	PRON
alkej-160	85	5	is	be	AUX
alkej-160	85	6	that	that	SCONJ
alkej-160	85	7	the	the	DET
alkej-160	85	8	robot	robot	NOUN
alkej-160	85	9	works	work	VERB
alkej-160	85	10	in	in	ADP
alkej-160	85	11	an	an	DET
alkej-160	85	12	unknown	unknown	ADJ
alkej-160	85	13	environment	environment	NOUN
alkej-160	85	14	and	and	CCONJ
alkej-160	85	15	the	the	DET
alkej-160	85	16	repulsive	repulsive	ADJ
alkej-160	85	17	force	force	NOUN
alkej-160	85	18	is	be	AUX
alkej-160	85	19	calculated	calculate	VERB
alkej-160	85	20	only	only	ADV
alkej-160	85	21	for	for	ADP
alkej-160	85	22	the	the	DET
alkej-160	85	23	collision	collision	NOUN
alkej-160	85	24	points	point	NOUN
alkej-160	85	25	that	that	PRON
alkej-160	85	26	are	be	AUX
alkej-160	85	27	detected	detect	VERB
alkej-160	85	28	by	by	ADP
alkej-160	85	29	the	the	DET
alkej-160	85	30	sensors	sensor	NOUN
alkej-160	85	31	.	.	PUNCT
alkej-160	86	1	the	the	DET
alkej-160	86	2	primary	primary	ADJ
alkej-160	86	3	proposed	propose	VERB
alkej-160	86	4	attractive	attractive	ADJ
alkej-160	86	5	force	force	NOUN
alkej-160	86	6	and	and	CCONJ
alkej-160	86	7	repulsive	repulsive	ADJ
alkej-160	86	8	force	force	NOUN
alkej-160	86	9	provide	provide	VERB
alkej-160	86	10	a	a	DET
alkej-160	86	11	safe	safe	ADJ
alkej-160	86	12	path	path	NOUN
alkej-160	86	13	for	for	SCONJ
alkej-160	86	14	the	the	DET
alkej-160	86	15	mobile	mobile	ADJ
alkej-160	86	16	robot	robot	NOUN
alkej-160	86	17	to	to	PART
alkej-160	86	18	reach	reach	VERB
alkej-160	86	19	the	the	DET
alkej-160	86	20	target	target	NOUN
alkej-160	86	21	point	point	NOUN
alkej-160	86	22	.	.	PUNCT
alkej-160	87	1	in	in	ADP
alkej-160	87	2	fact	fact	NOUN
alkej-160	87	3	,	,	PUNCT
alkej-160	87	4	these	these	DET
alkej-160	87	5	forces	force	NOUN
alkej-160	87	6	are	be	AUX
alkej-160	87	7	enough	enough	ADJ
alkej-160	87	8	when	when	SCONJ
alkej-160	87	9	underlying	underlying	ADJ
alkej-160	87	10	environment	environment	NOUN
alkej-160	87	11	is	be	AUX
alkej-160	87	12	simple	simple	ADJ
alkej-160	87	13	and	and	CCONJ
alkej-160	87	14	does	do	AUX
alkej-160	87	15	not	not	PART
alkej-160	87	16	contain	contain	VERB
alkej-160	87	17	local	local	ADJ
alkej-160	87	18	minimum	minimum	NOUN
alkej-160	87	19	or	or	CCONJ
alkej-160	87	20	dead	dead	ADJ
alkej-160	87	21	ends	end	NOUN
alkej-160	87	22	.	.	PUNCT
alkej-160	88	1	therefore	therefore	ADV
alkej-160	88	2	,	,	PUNCT
alkej-160	88	3	extra	extra	ADJ
alkej-160	88	4	types	type	NOUN
alkej-160	88	5	of	of	ADP
alkej-160	88	6	secondary	secondary	ADJ
alkej-160	88	7	repulsive	repulsive	ADJ
alkej-160	88	8	and	and	CCONJ
alkej-160	88	9	attractive	attractive	ADJ
alkej-160	88	10	forces	force	NOUN
alkej-160	88	11	are	be	AUX
alkej-160	88	12	suggested	suggest	VERB
alkej-160	88	13	here	here	ADV
alkej-160	88	14	to	to	PART
alkej-160	88	15	contribute	contribute	VERB
alkej-160	88	16	with	with	ADP
alkej-160	88	17	the	the	DET
alkej-160	88	18	primary	primary	ADJ
alkej-160	88	19	forces	force	NOUN
alkej-160	88	20	.	.	PUNCT
alkej-160	89	1	these	these	DET
alkej-160	89	2	forces	force	NOUN
alkej-160	89	3	are	be	AUX
alkej-160	89	4	called	call	VERB
alkej-160	89	5	“	"	PUNCT
alkej-160	89	6	midpoint	midpoint	VERB
alkej-160	89	7	repulsive	repulsive	ADJ
alkej-160	89	8	force	force	NOUN
alkej-160	89	9	”	"	PUNCT
alkej-160	89	10	and	and	CCONJ
alkej-160	89	11	“	"	PUNCT
alkej-160	89	12	off	off	ADP
alkej-160	89	13	-	-	PUNCT
alkej-160	89	14	sensor	sensor	NOUN
alkej-160	89	15	attractive	attractive	ADJ
alkej-160	89	16	force	force	NOUN
alkej-160	89	17	”	"	PUNCT
alkej-160	89	18	.	.	PUNCT
alkej-160	90	1	5.4	5.4	NUM
alkej-160	90	2	.	.	PUNCT
alkej-160	90	3	midpoint	midpoint	VERB
alkej-160	90	4	repulsive	repulsive	ADJ
alkej-160	90	5	force	force	NOUN
alkej-160	90	6	the	the	DET
alkej-160	90	7	midpoint	midpoint	NOUN
alkej-160	90	8	repulsive	repulsive	ADJ
alkej-160	90	9	force	force	NOUN
alkej-160	90	10	is	be	AUX
alkej-160	90	11	proposed	propose	VERB
alkej-160	90	12	to	to	PART
alkej-160	90	13	get	get	VERB
alkej-160	90	14	the	the	DET
alkej-160	90	15	robot	robot	NOUN
alkej-160	90	16	out	out	ADP
alkej-160	90	17	of	of	ADP
alkej-160	90	18	u	u	NOUN
alkej-160	90	19	shape	shape	NOUN
alkej-160	90	20	traps	trap	NOUN
alkej-160	90	21	or	or	CCONJ
alkej-160	90	22	dead	dead	ADJ
alkej-160	90	23	ends	end	NOUN
alkej-160	90	24	.	.	PUNCT
alkej-160	91	1	it	it	PRON
alkej-160	91	2	gives	give	VERB
alkej-160	91	3	the	the	DET
alkej-160	91	4	robot	robot	NOUN
alkej-160	91	5	sense	sense	NOUN
alkej-160	91	6	of	of	ADP
alkej-160	91	7	direction	direction	NOUN
alkej-160	91	8	,	,	PUNCT
alkej-160	91	9	like	like	ADP
alkej-160	91	10	where	where	SCONJ
alkej-160	91	11	the	the	DET
alkej-160	91	12	robot	robot	NOUN
alkej-160	91	13	comes	come	VERB
alkej-160	91	14	from	from	ADP
alkej-160	91	15	and	and	CCONJ
alkej-160	91	16	where	where	SCONJ
alkej-160	91	17	the	the	DET
alkej-160	91	18	robot	robot	NOUN
alkej-160	91	19	should	should	AUX
alkej-160	91	20	go	go	VERB
alkej-160	91	21	.	.	PUNCT
alkej-160	92	1	the	the	DET
alkej-160	92	2	midpoint	midpoint	NOUN
alkej-160	92	3	repulsive	repulsive	ADJ
alkej-160	92	4	force	force	NOUN
alkej-160	92	5	depends	depend	VERB
alkej-160	92	6	on	on	ADP
alkej-160	92	7	the	the	DET
alkej-160	92	8	previously	previously	ADV
alkej-160	92	9	detected	detect	VERB
alkej-160	92	10	collision	collision	NOUN
alkej-160	92	11	points	point	NOUN
alkej-160	92	12	(	(	PUNCT
alkej-160	92	13	)	)	PUNCT
alkej-160	92	14	.	.	PUNCT
alkej-160	93	1	we	we	PRON
alkej-160	93	2	classify	classify	VERB
alkej-160	93	3	the	the	DET
alkej-160	93	4	previously	previously	ADV
alkej-160	93	5	detected	detect	VERB
alkej-160	93	6	collision	collision	NOUN
alkej-160	93	7	points	point	NOUN
alkej-160	93	8	(	(	PUNCT
alkej-160	93	9	)	)	PUNCT
alkej-160	93	10	into	into	ADP
alkej-160	93	11	three	three	NUM
alkej-160	93	12	types	type	NOUN
alkej-160	93	13	of	of	ADP
alkej-160	93	14	points	point	NOUN
alkej-160	93	15	which	which	PRON
alkej-160	93	16	are	be	AUX
alkej-160	93	17	;	;	PUNCT
alkej-160	93	18	xpoints	xpoint	NOUN
alkej-160	93	19	,	,	PUNCT
alkej-160	93	20	y	y	NOUN
alkej-160	93	21	-	-	PUNCT
alkej-160	93	22	points	point	NOUN
alkej-160	93	23	and	and	CCONJ
alkej-160	93	24	xy	xy	NOUN
alkej-160	93	25	-	-	PUNCT
alkej-160	93	26	points	point	NOUN
alkej-160	93	27	.	.	PUNCT
alkej-160	94	1	the	the	DET
alkej-160	94	2	mechanism	mechanism	NOUN
alkej-160	94	3	of	of	ADP
alkej-160	94	4	classification	classification	NOUN
alkej-160	94	5	is	be	AUX
alkej-160	94	6	based	base	VERB
alkej-160	94	7	on	on	ADP
alkej-160	94	8	the	the	DET
alkej-160	94	9	direction	direction	NOUN
alkej-160	94	10	and	and	CCONJ
alkej-160	94	11	the	the	DET
alkej-160	94	12	position	position	NOUN
alkej-160	94	13	of	of	ADP
alkej-160	94	14	the	the	DET
alkej-160	94	15	robot	robot	NOUN
alkej-160	94	16	related	relate	VERB
alkej-160	94	17	to	to	ADP
alkej-160	94	18	the	the	DET
alkej-160	94	19	target	target	NOUN
alkej-160	94	20	point	point	NOUN
alkej-160	94	21	at	at	ADP
alkej-160	94	22	the	the	DET
alkej-160	94	23	instant	instant	NOUN
alkej-160	94	24	of	of	ADP
alkej-160	94	25	detection	detection	NOUN
alkej-160	94	26	the	the	DET
alkej-160	94	27	collision	collision	NOUN
alkej-160	94	28	point	point	NOUN
alkej-160	94	29	/	/	SYM
alkej-160	94	30	points	point	NOUN
alkej-160	94	31	.	.	PUNCT
alkej-160	95	1	this	this	DET
alkej-160	95	2	classification	classification	NOUN
alkej-160	95	3	depends	depend	VERB
alkej-160	95	4	on	on	ADP
alkej-160	95	5	two	two	NUM
alkej-160	95	6	steps	step	NOUN
alkej-160	95	7	.	.	PUNCT
alkej-160	96	1	the	the	DET
alkej-160	96	2	first	first	ADJ
alkej-160	96	3	step	step	NOUN
alkej-160	96	4	depends	depend	VERB
alkej-160	96	5	on	on	ADP
alkej-160	96	6	the	the	DET
alkej-160	96	7	direction	direction	NOUN
alkej-160	96	8	of	of	ADP
alkej-160	96	9	the	the	DET
alkej-160	96	10	robot	robot	NOUN
alkej-160	96	11	.	.	PUNCT
alkej-160	97	1	the	the	DET
alkej-160	97	2	following	follow	VERB
alkej-160	97	3	three	three	NUM
alkej-160	97	4	conditions	condition	NOUN
alkej-160	97	5	determine	determine	VERB
alkej-160	97	6	the	the	DET
alkej-160	97	7	direction	direction	NOUN
alkej-160	97	8	of	of	ADP
alkej-160	97	9	the	the	DET
alkej-160	97	10	robot	robot	NOUN
alkej-160	97	11	as	as	SCONJ
alkej-160	97	12	shown	show	VERB
alkej-160	97	13	in	in	ADP
alkej-160	97	14	(	(	PUNCT
alkej-160	97	15	11	11	NUM
alkej-160	97	16	)	)	PUNCT
alkej-160	97	17	,	,	PUNCT
alkej-160	97	18	(	(	PUNCT
alkej-160	97	19	12	12	NUM
alkej-160	97	20	)	)	PUNCT
alkej-160	97	21	and	and	CCONJ
alkej-160	97	22	(	(	PUNCT
alkej-160	97	23	13	13	NUM
alkej-160	97	24	)	)	PUNCT
alkej-160	97	25	.	.	PUNCT
alkej-160	98	1	(	(	PUNCT
alkej-160	98	2	)	)	PUNCT
alkej-160	98	3	>	>	PUNCT
alkej-160	98	4	(	(	PUNCT
alkej-160	98	5	)	)	PUNCT
alkej-160	98	6	…	…	PUNCT
alkej-160	98	7	(	(	PUNCT
alkej-160	98	8	11	11	NUM
alkej-160	98	9	)	)	PUNCT
alkej-160	98	10	(	(	PUNCT
alkej-160	98	11	)	)	PUNCT
alkej-160	98	12	<	<	X
alkej-160	98	13	(	(	PUNCT
alkej-160	98	14	)	)	PUNCT
alkej-160	98	15	…	…	PUNCT
alkej-160	98	16	(	(	PUNCT
alkej-160	98	17	12	12	NUM
alkej-160	98	18	)	)	PUNCT
alkej-160	98	19	(	(	PUNCT
alkej-160	98	20	)	)	PUNCT
alkej-160	98	21	=	=	SYM
alkej-160	98	22	(	(	PUNCT
alkej-160	98	23	)	)	PUNCT
alkej-160	98	24	…	…	PUNCT
alkej-160	98	25	(	(	PUNCT
alkej-160	98	26	13	13	NUM
alkej-160	98	27	)	)	PUNCT
alkej-160	98	28	in	in	ADP
alkej-160	98	29	(	(	PUNCT
alkej-160	98	30	11	11	NUM
alkej-160	98	31	)	)	PUNCT
alkej-160	98	32	to	to	ADP
alkej-160	98	33	(	(	PUNCT
alkej-160	98	34	12	12	NUM
alkej-160	98	35	)	)	PUNCT
alkej-160	98	36	is	be	AUX
alkej-160	98	37	the	the	DET
alkej-160	98	38	direction	direction	NOUN
alkej-160	98	39	of	of	ADP
alkej-160	98	40	the	the	DET
alkej-160	98	41	robot	robot	NOUN
alkej-160	98	42	with	with	ADP
alkej-160	98	43	respect	respect	NOUN
alkej-160	98	44	to	to	ADP
alkej-160	98	45	the	the	DET
alkej-160	98	46	x	x	NOUN
alkej-160	98	47	-	-	NOUN
alkej-160	98	48	axis	axis	NOUN
alkej-160	98	49	.	.	PUNCT
alkej-160	99	1	the	the	DET
alkej-160	99	2	three	three	NUM
alkej-160	99	3	last	last	ADJ
alkej-160	99	4	conditions	condition	NOUN
alkej-160	99	5	are	be	AUX
alkej-160	99	6	better	well	ADV
alkej-160	99	7	illustrated	illustrate	VERB
alkej-160	99	8	in	in	ADP
alkej-160	99	9	figure	figure	NOUN
alkej-160	99	10	(	(	PUNCT
alkej-160	99	11	4	4	NUM
alkej-160	99	12	)	)	PUNCT
alkej-160	99	13	.	.	PUNCT
alkej-160	100	1	in	in	ADP
alkej-160	100	2	other	other	ADJ
alkej-160	100	3	word	word	NOUN
alkej-160	100	4	,	,	PUNCT
alkej-160	100	5	the	the	DET
alkej-160	100	6	satisfaction	satisfaction	NOUN
alkej-160	100	7	of	of	ADP
alkej-160	100	8	first	first	ADJ
alkej-160	100	9	condition	condition	NOUN
alkej-160	100	10	(	(	PUNCT
alkej-160	100	11	11	11	NUM
alkej-160	100	12	)	)	PUNCT
alkej-160	100	13	informs	inform	VERB
alkej-160	100	14	that	that	SCONJ
alkej-160	100	15	the	the	DET
alkej-160	100	16	change	change	NOUN
alkej-160	100	17	in	in	ADP
alkej-160	100	18	the	the	DET
alkej-160	100	19	position	position	NOUN
alkej-160	100	20	of	of	ADP
alkej-160	100	21	the	the	DET
alkej-160	100	22	robot	robot	NOUN
alkej-160	100	23	along	along	ADP
alkej-160	100	24	the	the	DET
alkej-160	100	25	x	x	NOUN
alkej-160	100	26	-	-	NOUN
alkej-160	100	27	axis	axis	NOUN
alkej-160	100	28	during	during	ADP
alkej-160	100	29	its	its	PRON
alkej-160	100	30	motion	motion	NOUN
alkej-160	100	31	larger	large	ADJ
alkej-160	100	32	than	than	ADP
alkej-160	100	33	the	the	DET
alkej-160	100	34	change	change	NOUN
alkej-160	100	35	along	along	ADP
alkej-160	100	36	the	the	DET
alkej-160	100	37	y	y	NOUN
alkej-160	100	38	-	-	PUNCT
alkej-160	100	39	axis	axis	NOUN
alkej-160	100	40	.	.	PUNCT
alkej-160	101	1	the	the	DET
alkej-160	101	2	satisfaction	satisfaction	NOUN
alkej-160	101	3	of	of	ADP
alkej-160	101	4	the	the	DET
alkej-160	101	5	second	second	ADJ
alkej-160	101	6	condition	condition	NOUN
alkej-160	101	7	(	(	PUNCT
alkej-160	101	8	12	12	NUM
alkej-160	101	9	)	)	PUNCT
alkej-160	101	10	indicates	indicate	VERB
alkej-160	101	11	that	that	SCONJ
alkej-160	101	12	the	the	DET
alkej-160	101	13	change	change	NOUN
alkej-160	101	14	in	in	ADP
alkej-160	101	15	the	the	DET
alkej-160	101	16	position	position	NOUN
alkej-160	101	17	of	of	ADP
alkej-160	101	18	the	the	DET
alkej-160	101	19	robot	robot	NOUN
alkej-160	101	20	along	along	ADP
alkej-160	101	21	y	y	NOUN
alkej-160	101	22	-	-	PUNCT
alkej-160	101	23	axis	axis	NOUN
alkej-160	101	24	larger	large	ADJ
alkej-160	101	25	than	than	ADP
alkej-160	101	26	x	x	NOUN
alkej-160	101	27	-	-	NOUN
alkej-160	101	28	axis	axis	ADJ
alkej-160	101	29	.	.	PUNCT
alkej-160	102	1	finally	finally	ADV
alkej-160	102	2	condition	condition	NOUN
alkej-160	102	3	(	(	PUNCT
alkej-160	102	4	13	13	NUM
alkej-160	102	5	)	)	PUNCT
alkej-160	102	6	satisfied	satisfied	ADJ
alkej-160	102	7	if	if	SCONJ
alkej-160	102	8	the	the	DET
alkej-160	102	9	change	change	NOUN
alkej-160	102	10	in	in	ADP
alkej-160	102	11	the	the	DET
alkej-160	102	12	position	position	NOUN
alkej-160	102	13	of	of	ADP
alkej-160	102	14	the	the	DET
alkej-160	102	15	robot	robot	NOUN
alkej-160	102	16	along	along	ADP
alkej-160	102	17	the	the	DET
alkej-160	102	18	x	x	NOUN
alkej-160	102	19	-	-	NOUN
alkej-160	102	20	axis	axis	ADJ
alkej-160	102	21	and	and	CCONJ
alkej-160	102	22	y	y	NOUN
alkej-160	102	23	-	-	PUNCT
alkej-160	102	24	axis	axis	NOUN
alkej-160	102	25	is	be	AUX
alkej-160	102	26	the	the	DET
alkej-160	102	27	same	same	ADJ
alkej-160	102	28	.	.	PUNCT
alkej-160	103	1	the	the	DET
alkej-160	103	2	second	second	ADJ
alkej-160	103	3	step	step	NOUN
alkej-160	103	4	depends	depend	VERB
alkej-160	103	5	on	on	ADP
alkej-160	103	6	which	which	PRON
alkej-160	103	7	of	of	ADP
alkej-160	103	8	the	the	DET
alkej-160	103	9	above	above	ADJ
alkej-160	103	10	three	three	NUM
alkej-160	103	11	conditions	condition	NOUN
alkej-160	103	12	are	be	AUX
alkej-160	103	13	satisfied	satisfied	ADJ
alkej-160	103	14	.	.	PUNCT
alkej-160	104	1	if	if	SCONJ
alkej-160	104	2	condition	condition	NOUN
alkej-160	104	3	(	(	PUNCT
alkej-160	104	4	11	11	NUM
alkej-160	104	5	)	)	PUNCT
alkej-160	104	6	is	be	AUX
alkej-160	104	7	true	true	ADJ
alkej-160	104	8	then	then	ADV
alkej-160	104	9	the	the	DET
alkej-160	104	10	detected	detect	VERB
alkej-160	104	11	collision	collision	NOUN
alkej-160	104	12	point	point	NOUN
alkej-160	104	13	/	/	SYM
alkej-160	104	14	points	point	NOUN
alkej-160	104	15	at	at	ADP
alkej-160	104	16	that	that	DET
alkej-160	104	17	instance	instance	NOUN
alkej-160	104	18	is	be	AUX
alkej-160	104	19	classified	classify	VERB
alkej-160	104	20	as	as	ADP
alkej-160	104	21	x	x	NOUN
alkej-160	104	22	-	-	NOUN
alkej-160	104	23	point	point	NOUN
alkej-160	104	24	,	,	PUNCT
alkej-160	104	25	if	if	SCONJ
alkej-160	104	26	this	this	DET
alkej-160	104	27	point	point	NOUN
alkej-160	104	28	/	/	SYM
alkej-160	104	29	points	point	NOUN
alkej-160	104	30	lies	lie	NOUN
alkej-160	104	31	between	between	ADP
alkej-160	104	32	the	the	DET
alkej-160	104	33	x	x	NOUN
alkej-160	104	34	-	-	NOUN
alkej-160	104	35	axis	axis	NOUN
alkej-160	104	36	of	of	ADP
alkej-160	104	37	the	the	DET
alkej-160	104	38	robot	robot	NOUN
alkej-160	104	39	and	and	CCONJ
alkej-160	104	40	the	the	DET
alkej-160	104	41	x	x	NOUN
alkej-160	104	42	-	-	NOUN
alkej-160	104	43	axis	axis	NOUN
alkej-160	104	44	of	of	ADP
alkej-160	104	45	the	the	DET
alkej-160	104	46	target	target	NOUN
alkej-160	104	47	.	.	PUNCT
alkej-160	105	1	if	if	SCONJ
alkej-160	105	2	condition	condition	NOUN
alkej-160	105	3	(	(	PUNCT
alkej-160	105	4	12	12	NUM
alkej-160	105	5	)	)	PUNCT
alkej-160	105	6	is	be	AUX
alkej-160	105	7	satisfied	satisfied	ADJ
alkej-160	105	8	the	the	DET
alkej-160	105	9	collision	collision	NOUN
alkej-160	105	10	point	point	NOUN
alkej-160	105	11	/	/	SYM
alkej-160	105	12	points	point	NOUN
alkej-160	105	13	is	be	AUX
alkej-160	105	14	classified	classify	VERB
alkej-160	105	15	as	as	ADP
alkej-160	105	16	y	y	NOUN
alkej-160	105	17	-	-	PUNCT
alkej-160	105	18	point	point	NOUN
alkej-160	105	19	,	,	PUNCT
alkej-160	105	20	if	if	SCONJ
alkej-160	105	21	this	this	DET
alkej-160	105	22	point	point	NOUN
alkej-160	105	23	/	/	SYM
alkej-160	105	24	points	point	NOUN
alkej-160	105	25	lies	lie	NOUN
alkej-160	105	26	between	between	ADP
alkej-160	105	27	the	the	DET
alkej-160	105	28	yaxis	yaxis	NOUN
alkej-160	105	29	of	of	ADP
alkej-160	105	30	the	the	DET
alkej-160	105	31	robot	robot	NOUN
alkej-160	105	32	and	and	CCONJ
alkej-160	105	33	the	the	DET
alkej-160	105	34	y	y	NOUN
alkej-160	105	35	-	-	PUNCT
alkej-160	105	36	axis	axis	NOUN
alkej-160	105	37	of	of	ADP
alkej-160	105	38	the	the	DET
alkej-160	105	39	target	target	NOUN
alkej-160	105	40	.	.	PUNCT
alkej-160	106	1	in	in	ADP
alkej-160	106	2	same	same	ADJ
alkej-160	106	3	manner	manner	NOUN
alkej-160	106	4	,	,	PUNCT
alkej-160	106	5	if	if	SCONJ
alkej-160	106	6	condition	condition	NOUN
alkej-160	106	7	(	(	PUNCT
alkej-160	106	8	13	13	NUM
alkej-160	106	9	)	)	PUNCT
alkej-160	106	10	is	be	AUX
alkej-160	106	11	satisfied	satisfied	ADJ
alkej-160	106	12	the	the	DET
alkej-160	106	13	point	point	NOUN
alkej-160	106	14	/	/	SYM
alkej-160	106	15	points	point	NOUN
alkej-160	106	16	is	be	AUX
alkej-160	106	17	classified	classify	VERB
alkej-160	106	18	as	as	ADP
alkej-160	106	19	xy	xy	NOUN
alkej-160	106	20	-	-	PUNCT
alkej-160	106	21	point	point	NOUN
alkej-160	106	22	.	.	PUNCT
alkej-160	107	1	figure	figure	NOUN
alkej-160	107	2	(	(	PUNCT
alkej-160	107	3	5	5	NUM
alkej-160	107	4	)	)	PUNCT
alkej-160	107	5	shows	show	VERB
alkej-160	107	6	this	this	DET
alkej-160	107	7	classification	classification	NOUN
alkej-160	107	8	.	.	PUNCT
alkej-160	108	1	fig	fig	NOUN
alkej-160	108	2	.	.	PUNCT
alkej-160	109	1	4	4	X
alkej-160	109	2	.	.	X
alkej-160	109	3	first	first	ADJ
alkej-160	109	4	step	step	NOUN
alkej-160	109	5	condition	condition	NOUN
alkej-160	109	6	.	.	PUNCT
alkej-160	110	1	(	(	PUNCT
alkej-160	110	2	a	a	X
alkej-160	110	3	)	)	PUNCT
alkej-160	110	4	(	(	PUNCT
alkej-160	110	5	)	)	PUNCT
alkej-160	110	6	>	>	PUNCT
alkej-160	110	7	(	(	PUNCT
alkej-160	110	8	)	)	PUNCT
alkej-160	110	9	=	=	PUNCT
alkej-160	110	10	.	.	PUNCT
alkej-160	111	1	(	(	PUNCT
alkej-160	111	2	b	b	X
alkej-160	111	3	)	)	PUNCT
alkej-160	111	4	(	(	PUNCT
alkej-160	111	5	)	)	PUNCT
alkej-160	111	6	<	<	X
alkej-160	111	7	(	(	PUNCT
alkej-160	111	8	)	)	PUNCT
alkej-160	111	9	=	=	PUNCT
alkej-160	111	10	.	.	PUNCT
alkej-160	112	1	(	(	PUNCT
alkej-160	112	2	c	c	X
alkej-160	112	3	)	)	PUNCT
alkej-160	112	4	(	(	PUNCT
alkej-160	112	5	)	)	PUNCT
alkej-160	112	6	=	=	SYM
alkej-160	112	7	(	(	PUNCT
alkej-160	112	8	)	)	PUNCT
alkej-160	112	9	=	=	PUNCT
alkej-160	112	10	.	.	PUNCT
alkej-160	113	1	x	x	PUNCT
alkej-160	113	2	y	y	PROPN
alkej-160	113	3	(	(	PUNCT
alkej-160	113	4	b	b	NOUN
alkej-160	113	5	)	)	PUNCT
alkej-160	113	6	(	(	PUNCT
alkej-160	113	7	)	)	PUNCT
alkej-160	113	8	(	(	PUNCT
alkej-160	113	9	)	)	PUNCT
alkej-160	113	10	(	(	PUNCT
alkej-160	113	11	a	a	X
alkej-160	113	12	)	)	PUNCT
alkej-160	113	13	(	(	PUNCT
alkej-160	113	14	)	)	PUNCT
alkej-160	113	15	(	(	PUNCT
alkej-160	113	16	)	)	PUNCT
alkej-160	113	17	(	(	PUNCT
alkej-160	113	18	c	c	X
alkej-160	113	19	)	)	PUNCT
alkej-160	113	20	(	(	PUNCT
alkej-160	113	21	)	)	PUNCT
alkej-160	113	22	(	(	PUNCT
alkej-160	113	23	)	)	PUNCT
alkej-160	113	24	=	=	SYM
alkej-160	113	25	°	°	PROPN
alkej-160	113	26	mohamed	mohamed	PROPN
alkej-160	113	27	jasim	jasim	PROPN
alkej-160	113	28	mohamed	mohamed	PROPN
alkej-160	113	29	al	al	PROPN
alkej-160	113	30	-	-	PUNCT
alkej-160	113	31	khwarizmi	khwarizmi	PROPN
alkej-160	113	32	engineering	engineering	NOUN
alkej-160	113	33	journal	journal	PROPN
alkej-160	113	34	,	,	PUNCT
alkej-160	113	35	vol	vol	NOUN
alkej-160	113	36	.	.	NOUN
alkej-160	113	37	9	9	NUM
alkej-160	113	38	,	,	PUNCT
alkej-160	113	39	no.1	no.1	NUM
alkej-160	113	40	,	,	PUNCT
alkej-160	113	41	p.p.71	p.p.71	NOUN
alkej-160	113	42	-	-	PUNCT
alkej-160	113	43	82	82	NUM
alkej-160	113	44	(	(	PUNCT
alkej-160	113	45	2013	2013	NUM
alkej-160	113	46	)	)	PUNCT
alkej-160	113	47	75	75	NUM
alkej-160	113	48	in	in	ADP
alkej-160	113	49	figure	figure	NOUN
alkej-160	113	50	(	(	PUNCT
alkej-160	113	51	5	5	NUM
alkej-160	113	52	-	-	SYM
alkej-160	113	53	b	b	NOUN
alkej-160	113	54	)	)	PUNCT
alkej-160	113	55	some	some	DET
alkej-160	113	56	points	point	NOUN
alkej-160	113	57	are	be	AUX
alkej-160	113	58	classified	classify	VERB
alkej-160	113	59	as	as	ADP
alkej-160	113	60	xpoints	xpoint	NOUN
alkej-160	113	61	because	because	SCONJ
alkej-160	113	62	they	they	PRON
alkej-160	113	63	are	be	AUX
alkej-160	113	64	out	out	ADP
alkej-160	113	65	of	of	ADP
alkej-160	113	66	the	the	DET
alkej-160	113	67	range	range	NOUN
alkej-160	113	68	of	of	ADP
alkej-160	113	69	y	y	NOUN
alkej-160	113	70	-	-	PUNCT
alkej-160	113	71	axis	axis	NOUN
alkej-160	113	72	of	of	ADP
alkej-160	113	73	the	the	DET
alkej-160	113	74	target	target	NOUN
alkej-160	113	75	and	and	CCONJ
alkej-160	113	76	the	the	DET
alkej-160	113	77	robot	robot	NOUN
alkej-160	113	78	.	.	PUNCT
alkej-160	114	1	the	the	DET
alkej-160	114	2	ignored	ignore	VERB
alkej-160	114	3	point	point	NOUN
alkej-160	114	4	in	in	ADP
alkej-160	114	5	figure	figure	NOUN
alkej-160	114	6	(	(	PUNCT
alkej-160	114	7	5	5	NUM
alkej-160	114	8	-	-	SYM
alkej-160	114	9	c	c	NOUN
alkej-160	114	10	)	)	PUNCT
alkej-160	114	11	is	be	AUX
alkej-160	114	12	ignored	ignore	VERB
alkej-160	114	13	by	by	ADP
alkej-160	114	14	the	the	DET
alkej-160	114	15	midpoint	midpoint	NOUN
alkej-160	114	16	repulsive	repulsive	ADJ
alkej-160	114	17	force	force	NOUN
alkej-160	114	18	because	because	SCONJ
alkej-160	114	19	it	it	PRON
alkej-160	114	20	is	be	AUX
alkej-160	114	21	out	out	ADP
alkej-160	114	22	of	of	ADP
alkej-160	114	23	the	the	DET
alkej-160	114	24	xy	xy	NOUN
alkej-160	114	25	-	-	PUNCT
alkej-160	114	26	axis	axis	NOUN
alkej-160	114	27	range	range	NOUN
alkej-160	114	28	of	of	ADP
alkej-160	114	29	the	the	DET
alkej-160	114	30	robot	robot	NOUN
alkej-160	114	31	and	and	CCONJ
alkej-160	114	32	the	the	DET
alkej-160	114	33	target	target	NOUN
alkej-160	114	34	but	but	CCONJ
alkej-160	114	35	this	this	DET
alkej-160	114	36	point	point	NOUN
alkej-160	114	37	is	be	AUX
alkej-160	114	38	not	not	PART
alkej-160	114	39	ignored	ignore	VERB
alkej-160	114	40	by	by	ADP
alkej-160	114	41	the	the	DET
alkej-160	114	42	prim	prim	ADJ
alkej-160	114	43	repulsive	repulsive	ADJ
alkej-160	114	44	force	force	NOUN
alkej-160	114	45	.	.	PUNCT
alkej-160	115	1	the	the	DET
alkej-160	115	2	basic	basic	ADJ
alkej-160	115	3	purpose	purpose	NOUN
alkej-160	115	4	of	of	ADP
alkej-160	115	5	this	this	DET
alkej-160	115	6	classification	classification	NOUN
alkej-160	115	7	is	be	AUX
alkej-160	115	8	to	to	PART
alkej-160	115	9	ensure	ensure	VERB
alkej-160	115	10	that	that	SCONJ
alkej-160	115	11	the	the	DET
alkej-160	115	12	midpoint	midpoint	NOUN
alkej-160	115	13	repulsive	repulsive	ADJ
alkej-160	115	14	force	force	NOUN
alkej-160	115	15	does	do	AUX
alkej-160	115	16	not	not	PART
alkej-160	115	17	take	take	VERB
alkej-160	115	18	into	into	ADP
alkej-160	115	19	account	account	NOUN
alkej-160	115	20	the	the	DET
alkej-160	115	21	points	point	NOUN
alkej-160	115	22	that	that	SCONJ
alkej-160	115	23	the	the	DET
alkej-160	115	24	robot	robot	NOUN
alkej-160	115	25	passes	pass	VERB
alkej-160	115	26	them	they	PRON
alkej-160	115	27	and	and	CCONJ
alkej-160	115	28	they	they	PRON
alkej-160	115	29	have	have	VERB
alkej-160	115	30	no	no	DET
alkej-160	115	31	importance	importance	NOUN
alkej-160	115	32	any	any	PRON
alkej-160	115	33	more	more	ADV
alkej-160	115	34	.	.	PUNCT
alkej-160	116	1	thus	thus	ADV
alkej-160	116	2	,	,	PUNCT
alkej-160	116	3	the	the	DET
alkej-160	116	4	midpoint	midpoint	NOUN
alkej-160	116	5	force	force	NOUN
alkej-160	116	6	ignores	ignore	VERB
alkej-160	116	7	the	the	DET
alkej-160	116	8	x	x	NOUN
alkej-160	116	9	-	-	NOUN
alkej-160	116	10	points	point	NOUN
alkej-160	116	11	if	if	SCONJ
alkej-160	116	12	these	these	DET
alkej-160	116	13	points	point	NOUN
alkej-160	116	14	become	become	VERB
alkej-160	116	15	out	out	ADP
alkej-160	116	16	of	of	ADP
alkej-160	116	17	the	the	DET
alkej-160	116	18	range	range	NOUN
alkej-160	116	19	of	of	ADP
alkej-160	116	20	x	x	NOUN
alkej-160	116	21	-	-	NOUN
alkej-160	116	22	axis	axis	NOUN
alkej-160	116	23	of	of	ADP
alkej-160	116	24	robot	robot	NOUN
alkej-160	116	25	and	and	CCONJ
alkej-160	116	26	x	x	NOUN
alkej-160	116	27	-	-	NOUN
alkej-160	116	28	axis	axis	NOUN
alkej-160	116	29	of	of	ADP
alkej-160	116	30	target	target	NOUN
alkej-160	116	31	and	and	CCONJ
alkej-160	116	32	the	the	DET
alkej-160	116	33	same	same	ADJ
alkej-160	116	34	for	for	ADP
alkej-160	116	35	ypoints	ypoint	NOUN
alkej-160	116	36	and	and	CCONJ
alkej-160	116	37	xy	xy	NOUN
alkej-160	116	38	-	-	PUNCT
alkej-160	116	39	points	point	NOUN
alkej-160	116	40	,	,	PUNCT
alkej-160	116	41	if	if	SCONJ
alkej-160	116	42	they	they	PRON
alkej-160	116	43	out	out	ADP
alkej-160	116	44	of	of	ADP
alkej-160	116	45	the	the	DET
alkej-160	116	46	y	y	ADJ
alkej-160	116	47	-	-	PUNCT
alkej-160	116	48	axis	axis	NOUN
alkej-160	116	49	range	range	NOUN
alkej-160	116	50	and	and	CCONJ
alkej-160	116	51	the	the	DET
alkej-160	116	52	xy	xy	NOUN
alkej-160	116	53	-	-	PUNCT
alkej-160	116	54	axis	axis	NOUN
alkej-160	116	55	range	range	NOUN
alkej-160	116	56	respectively	respectively	ADV
alkej-160	116	57	.	.	PUNCT
alkej-160	117	1	the	the	DET
alkej-160	117	2	midpoint	midpoint	NOUN
alkej-160	117	3	is	be	AUX
alkej-160	117	4	calculated	calculate	VERB
alkej-160	117	5	for	for	ADP
alkej-160	117	6	the	the	DET
alkej-160	117	7	as	as	ADP
alkej-160	117	8	in	in	ADP
alkej-160	117	9	equation	equation	NOUN
alkej-160	117	10	(	(	PUNCT
alkej-160	117	11	11	11	NUM
alkej-160	117	12	)	)	PUNCT
alkej-160	117	13	.	.	PUNCT
alkej-160	118	1	=	=	PUNCT
alkej-160	118	2	(	(	PUNCT
alkej-160	118	3	∑	∑	PROPN
alkej-160	118	4	)	)	PUNCT
alkej-160	118	5	/	/	SYM
alkej-160	118	6	…	…	PUNCT
alkej-160	118	7	(	(	PUNCT
alkej-160	118	8	11	11	NUM
alkej-160	118	9	)	)	PUNCT
alkej-160	118	10	where	where	SCONJ
alkej-160	118	11	:	:	PUNCT
alkej-160	118	12	n	n	PRON
alkej-160	118	13	is	be	AUX
alkej-160	118	14	the	the	DET
alkej-160	118	15	number	number	NOUN
alkej-160	118	16	of	of	ADP
alkej-160	118	17	previously	previously	ADV
alkej-160	118	18	saved	save	VERB
alkej-160	118	19	collision	collision	NOUN
alkej-160	118	20	points	point	NOUN
alkej-160	118	21	.	.	PUNCT
alkej-160	119	1	the	the	DET
alkej-160	119	2	purpose	purpose	NOUN
alkej-160	119	3	of	of	ADP
alkej-160	119	4	the	the	DET
alkej-160	119	5	midpoint	midpoint	NOUN
alkej-160	119	6	repulsive	repulsive	ADJ
alkej-160	119	7	force	force	NOUN
alkej-160	119	8	is	be	AUX
alkej-160	119	9	to	to	PART
alkej-160	119	10	be	be	AUX
alkej-160	119	11	an	an	DET
alkej-160	119	12	antagonist	antagonist	NOUN
alkej-160	119	13	for	for	ADP
alkej-160	119	14	the	the	DET
alkej-160	119	15	attractive	attractive	ADJ
alkej-160	119	16	force	force	NOUN
alkej-160	119	17	of	of	ADP
alkej-160	119	18	target	target	NOUN
alkej-160	119	19	.	.	PUNCT
alkej-160	120	1	it	it	PRON
alkej-160	120	2	has	have	VERB
alkej-160	120	3	the	the	DET
alkej-160	120	4	ability	ability	NOUN
alkej-160	120	5	to	to	PART
alkej-160	120	6	reverse	reverse	VERB
alkej-160	120	7	the	the	DET
alkej-160	120	8	direction	direction	NOUN
alkej-160	120	9	of	of	ADP
alkej-160	120	10	the	the	DET
alkej-160	120	11	robot	robot	NOUN
alkej-160	120	12	or	or	CCONJ
alkej-160	120	13	drive	drive	VERB
alkej-160	120	14	the	the	DET
alkej-160	120	15	robot	robot	NOUN
alkej-160	120	16	away	away	ADV
alkej-160	120	17	from	from	ADP
alkej-160	120	18	the	the	DET
alkej-160	120	19	target	target	NOUN
alkej-160	120	20	point	point	NOUN
alkej-160	120	21	,	,	PUNCT
alkej-160	120	22	when	when	SCONJ
alkej-160	120	23	it	it	PRON
alkej-160	120	24	is	be	AUX
alkej-160	120	25	necessary	necessary	ADJ
alkej-160	120	26	.	.	PUNCT
alkej-160	121	1	therefore	therefore	ADV
alkej-160	121	2	,	,	PUNCT
alkej-160	121	3	the	the	DET
alkej-160	121	4	repulsive	repulsive	ADJ
alkej-160	121	5	force	force	NOUN
alkej-160	121	6	of	of	ADP
alkej-160	121	7	the	the	DET
alkej-160	121	8	midpoint	midpoint	NOUN
alkej-160	121	9	is	be	AUX
alkej-160	121	10	calculated	calculate	VERB
alkej-160	121	11	in	in	ADP
alkej-160	121	12	different	different	ADJ
alkej-160	121	13	way	way	NOUN
alkej-160	121	14	.	.	PUNCT
alkej-160	122	1	it	it	PRON
alkej-160	122	2	is	be	AUX
alkej-160	122	3	calculated	calculate	VERB
alkej-160	122	4	as	as	ADP
alkej-160	122	5	the	the	DET
alkej-160	122	6	negative	negative	NOUN
alkej-160	122	7	of	of	ADP
alkej-160	122	8	the	the	DET
alkej-160	122	9	distance	distance	NOUN
alkej-160	122	10	between	between	ADP
alkej-160	122	11	the	the	DET
alkej-160	122	12	robot	robot	NOUN
alkej-160	122	13	and	and	CCONJ
alkej-160	122	14	the	the	DET
alkej-160	122	15	midpoint	midpoint	NOUN
alkej-160	122	16	as	as	ADP
alkej-160	122	17	in	in	ADP
alkej-160	122	18	equation	equation	NOUN
alkej-160	122	19	(	(	PUNCT
alkej-160	122	20	12	12	NUM
alkej-160	122	21	)	)	PUNCT
alkej-160	122	22	and	and	CCONJ
alkej-160	122	23	the	the	DET
alkej-160	122	24	gradient	gradient	NOUN
alkej-160	122	25	of	of	ADP
alkej-160	122	26	it	it	PRON
alkej-160	122	27	in	in	ADP
alkej-160	122	28	equation	equation	NOUN
alkej-160	122	29	(	(	PUNCT
alkej-160	122	30	13	13	NUM
alkej-160	122	31	)	)	PUNCT
alkej-160	122	32	.	.	PUNCT
alkej-160	123	1	(	(	PUNCT
alkej-160	123	2	)	)	PUNCT
alkej-160	123	3	=	=	SYM
alkej-160	123	4	−	−	PROPN
alkej-160	123	5	(	(	PUNCT
alkej-160	123	6	,	,	PUNCT
alkej-160	123	7	)	)	PUNCT
alkej-160	123	8	…	…	PUNCT
alkej-160	123	9	(	(	PUNCT
alkej-160	123	10	12	12	NUM
alkej-160	123	11	)	)	PUNCT
alkej-160	123	12	(	(	PUNCT
alkej-160	123	13	)	)	PUNCT
alkej-160	123	14	=	=	SYM
alkej-160	124	1	−	−	PROPN
alkej-160	124	2	(	(	PUNCT
alkej-160	124	3	,	,	PUNCT
alkej-160	124	4	)	)	PUNCT
alkej-160	124	5	…	…	PUNCT
alkej-160	124	6	(	(	PUNCT
alkej-160	124	7	13	13	NUM
alkej-160	124	8	)	)	PUNCT
alkej-160	124	9	the	the	DET
alkej-160	124	10	factor	factor	NOUN
alkej-160	124	11	in	in	ADP
alkej-160	124	12	(	(	PUNCT
alkej-160	124	13	12	12	NUM
alkej-160	124	14	)	)	PUNCT
alkej-160	124	15	and	and	CCONJ
alkej-160	124	16	(	(	PUNCT
alkej-160	124	17	13	13	NUM
alkej-160	124	18	)	)	PUNCT
alkej-160	124	19	is	be	AUX
alkej-160	124	20	chosen	choose	VERB
alkej-160	124	21	to	to	PART
alkej-160	124	22	be	be	AUX
alkej-160	124	23	1	1	NUM
alkej-160	124	24	or	or	CCONJ
alkej-160	124	25	half	half	NOUN
alkej-160	124	26	of	of	ADP
alkej-160	124	27	the	the	DET
alkej-160	124	28	factor	factor	NOUN
alkej-160	124	29	of	of	ADP
alkej-160	124	30	the	the	DET
alkej-160	124	31	attractive	attractive	ADJ
alkej-160	124	32	force	force	NOUN
alkej-160	124	33	in	in	ADP
alkej-160	124	34	order	order	NOUN
alkej-160	124	35	to	to	PART
alkej-160	124	36	make	make	VERB
alkej-160	124	37	the	the	DET
alkej-160	124	38	effect	effect	NOUN
alkej-160	124	39	of	of	ADP
alkej-160	124	40	attractive	attractive	ADJ
alkej-160	124	41	force	force	NOUN
alkej-160	124	42	superior	superior	ADJ
alkej-160	124	43	to	to	PART
alkej-160	124	44	determine	determine	VERB
alkej-160	124	45	the	the	DET
alkej-160	124	46	direction	direction	NOUN
alkej-160	124	47	of	of	ADP
alkej-160	124	48	the	the	DET
alkej-160	124	49	robot	robot	NOUN
alkej-160	124	50	.	.	PUNCT
alkej-160	125	1	this	this	PRON
alkej-160	125	2	almost	almost	ADV
alkej-160	125	3	leads	lead	VERB
alkej-160	125	4	the	the	DET
alkej-160	125	5	robot	robot	NOUN
alkej-160	125	6	to	to	ADP
alkej-160	125	7	the	the	DET
alkej-160	125	8	target	target	NOUN
alkej-160	125	9	.	.	PUNCT
alkej-160	126	1	figure	figure	NOUN
alkej-160	126	2	(	(	PUNCT
alkej-160	126	3	6	6	NUM
alkej-160	126	4	)	)	PUNCT
alkej-160	126	5	shows	show	VERB
alkej-160	126	6	the	the	DET
alkej-160	126	7	effect	effect	NOUN
alkej-160	126	8	of	of	ADP
alkej-160	126	9	this	this	DET
alkej-160	126	10	force	force	NOUN
alkej-160	126	11	.	.	PUNCT
alkej-160	127	1	5.5	5.5	NUM
alkej-160	127	2	.	.	X
alkej-160	127	3	off	off	ADP
alkej-160	127	4	-	-	PUNCT
alkej-160	127	5	sensors	sensor	NOUN
alkej-160	127	6	attractive	attractive	ADJ
alkej-160	127	7	force	force	NOUN
alkej-160	127	8	this	this	DET
alkej-160	127	9	force	force	NOUN
alkej-160	127	10	is	be	AUX
alkej-160	127	11	proposed	propose	VERB
alkej-160	127	12	to	to	PART
alkej-160	127	13	give	give	VERB
alkej-160	127	14	the	the	DET
alkej-160	127	15	robot	robot	NOUN
alkej-160	127	16	an	an	DET
alkej-160	127	17	insistence	insistence	NOUN
alkej-160	127	18	to	to	PART
alkej-160	127	19	maintain	maintain	VERB
alkej-160	127	20	its	its	PRON
alkej-160	127	21	direction	direction	NOUN
alkej-160	127	22	until	until	SCONJ
alkej-160	127	23	it	it	PRON
alkej-160	127	24	reaches	reach	VERB
alkej-160	127	25	a	a	DET
alkej-160	127	26	dead	dead	ADJ
alkej-160	127	27	end	end	NOUN
alkej-160	127	28	or	or	CCONJ
alkej-160	127	29	it	it	PRON
alkej-160	127	30	goes	go	VERB
alkej-160	127	31	so	so	ADV
alkej-160	127	32	far	far	ADV
alkej-160	127	33	from	from	ADP
alkej-160	127	34	the	the	DET
alkej-160	127	35	target	target	NOUN
alkej-160	127	36	.	.	PUNCT
alkej-160	128	1	furthermore	furthermore	ADV
alkej-160	128	2	,	,	PUNCT
alkej-160	128	3	this	this	DET
alkej-160	128	4	force	force	NOUN
alkej-160	128	5	is	be	AUX
alkej-160	128	6	also	also	ADV
alkej-160	128	7	used	use	VERB
alkej-160	128	8	to	to	PART
alkej-160	128	9	enhance	enhance	VERB
alkej-160	128	10	the	the	DET
alkej-160	128	11	performance	performance	NOUN
alkej-160	128	12	of	of	ADP
alkej-160	128	13	the	the	DET
alkej-160	128	14	robot	robot	NOUN
alkej-160	128	15	around	around	ADP
alkej-160	128	16	the	the	DET
alkej-160	128	17	corners	corner	NOUN
alkej-160	128	18	and	and	CCONJ
alkej-160	128	19	to	to	PART
alkej-160	128	20	increase	increase	VERB
alkej-160	128	21	the	the	DET
alkej-160	128	22	smoothness	smoothness	NOUN
alkej-160	128	23	of	of	ADP
alkej-160	128	24	the	the	DET
alkej-160	128	25	resultant	resultant	NOUN
alkej-160	128	26	path	path	NOUN
alkej-160	128	27	(	(	PUNCT
alkej-160	128	28	reduces	reduce	VERB
alkej-160	128	29	the	the	DET
alkej-160	128	30	oscillations	oscillation	NOUN
alkej-160	128	31	of	of	ADP
alkej-160	128	32	the	the	DET
alkej-160	128	33	motion	motion	NOUN
alkej-160	128	34	)	)	PUNCT
alkej-160	128	35	.	.	PUNCT
alkej-160	129	1	this	this	DET
alkej-160	129	2	force	force	NOUN
alkej-160	129	3	is	be	AUX
alkej-160	129	4	based	base	VERB
alkej-160	129	5	on	on	ADP
alkej-160	129	6	two	two	NUM
alkej-160	129	7	classifications	classification	NOUN
alkej-160	129	8	;	;	PUNCT
alkej-160	129	9	classification	classification	NOUN
alkej-160	129	10	of	of	ADP
alkej-160	129	11	the	the	DET
alkej-160	129	12	motions	motion	NOUN
alkej-160	129	13	of	of	ADP
alkej-160	129	14	robot	robot	NOUN
alkej-160	129	15	and	and	CCONJ
alkej-160	129	16	classification	classification	NOUN
alkej-160	129	17	of	of	ADP
alkej-160	129	18	the	the	DET
alkej-160	129	19	sensors	sensor	NOUN
alkej-160	129	20	.	.	PUNCT
alkej-160	130	1	a.	a.	NOUN
alkej-160	130	2	robot	robot	NOUN
alkej-160	130	3	's	's	PART
alkej-160	130	4	motions	motion	NOUN
alkej-160	130	5	classification	classification	VERB
alkej-160	130	6	the	the	DET
alkej-160	130	7	motions	motion	NOUN
alkej-160	130	8	of	of	ADP
alkej-160	130	9	the	the	DET
alkej-160	130	10	robot	robot	NOUN
alkej-160	130	11	are	be	AUX
alkej-160	130	12	classified	classify	VERB
alkej-160	130	13	here	here	ADV
alkej-160	130	14	into	into	ADP
alkej-160	130	15	three	three	NUM
alkej-160	130	16	classes	class	NOUN
alkej-160	130	17	:	:	PUNCT
alkej-160	130	18	fig	fig	NOUN
alkej-160	130	19	.	.	PUNCT
alkej-160	131	1	5	5	X
alkej-160	131	2	.	.	X
alkej-160	131	3	collision	collision	NOUN
alkej-160	131	4	points	point	VERB
alkej-160	131	5	classification	classification	NOUN
alkej-160	131	6	.	.	PUNCT
alkej-160	132	1	(	(	PUNCT
alkej-160	132	2	a	a	X
alkej-160	132	3	)	)	PUNCT
alkej-160	132	4	(	(	PUNCT
alkej-160	132	5	)	)	PUNCT
alkej-160	132	6	>	>	PUNCT
alkej-160	132	7	(	(	PUNCT
alkej-160	132	8	)	)	PUNCT
alkej-160	132	9	=	=	PUNCT
alkej-160	132	10	.	.	PUNCT
alkej-160	133	1	(	(	PUNCT
alkej-160	133	2	b	b	X
alkej-160	133	3	)	)	PUNCT
alkej-160	133	4	(	(	PUNCT
alkej-160	133	5	)	)	PUNCT
alkej-160	133	6	<	<	X
alkej-160	133	7	(	(	PUNCT
alkej-160	133	8	)	)	PUNCT
alkej-160	133	9	=	=	PUNCT
alkej-160	133	10	.	.	PUNCT
alkej-160	134	1	(	(	PUNCT
alkej-160	134	2	c	c	X
alkej-160	134	3	)	)	PUNCT
alkej-160	134	4	(	(	PUNCT
alkej-160	134	5	)	)	PUNCT
alkej-160	134	6	=	=	SYM
alkej-160	134	7	(	(	PUNCT
alkej-160	134	8	)	)	PUNCT
alkej-160	134	9	=	=	SYM
alkej-160	134	10	.	.	PUNCT
alkej-160	135	1	target	target	VERB
alkej-160	135	2	x	x	NOUN
alkej-160	135	3	-	-	NOUN
alkej-160	135	4	point	point	NOUN
alkej-160	135	5	target	target	NOUN
alkej-160	135	6	x	x	NOUN
alkej-160	135	7	-	-	NOUN
alkej-160	135	8	points	points	ADJ
alkej-160	135	9	y	y	ADJ
alkej-160	135	10	-	-	PUNCT
alkej-160	135	11	points	point	NOUN
alkej-160	135	12	target	target	NOUN
alkej-160	135	13	xy	xy	NOUN
alkej-160	135	14	-	-	PUNCT
alkej-160	135	15	points	point	NOUN
alkej-160	135	16	ignored	ignore	VERB
alkej-160	135	17	(	(	PUNCT
alkej-160	135	18	b	b	NOUN
alkej-160	135	19	)	)	PUNCT
alkej-160	135	20	(	(	PUNCT
alkej-160	135	21	a	a	NOUN
alkej-160	135	22	)	)	PUNCT
alkej-160	135	23	(	(	PUNCT
alkej-160	135	24	c	c	X
alkej-160	135	25	)	)	PUNCT
alkej-160	135	26	fig	fig	NOUN
alkej-160	135	27	.	.	PUNCT
alkej-160	136	1	6	6	NUM
alkej-160	136	2	.	.	X
alkej-160	136	3	midpoint	midpoint	VERB
alkej-160	136	4	repulsive	repulsive	ADJ
alkej-160	136	5	force	force	NOUN
alkej-160	136	6	effect	effect	NOUN
alkej-160	136	7	.	.	PUNCT
alkej-160	137	1	(	(	PUNCT
alkej-160	137	2	a	a	X
alkej-160	137	3	)	)	PUNCT
alkej-160	137	4	without	without	ADP
alkej-160	137	5	midpoint	midpoint	NOUN
alkej-160	137	6	repulsive	repulsive	ADJ
alkej-160	137	7	force	force	NOUN
alkej-160	137	8	.	.	PUNCT
alkej-160	138	1	(	(	PUNCT
alkej-160	138	2	b	b	X
alkej-160	138	3	)	)	PUNCT
alkej-160	138	4	with	with	ADP
alkej-160	138	5	midpoint	midpoint	NOUN
alkej-160	138	6	repulsive	repulsive	ADJ
alkej-160	138	7	force	force	NOUN
alkej-160	138	8	.	.	PUNCT
alkej-160	139	1	start	start	VERB
alkej-160	139	2	start	start	NOUN
alkej-160	139	3	(	(	PUNCT
alkej-160	139	4	a	a	X
alkej-160	139	5	)	)	PUNCT
alkej-160	139	6	(	(	PUNCT
alkej-160	139	7	b	b	NOUN
alkej-160	139	8	)	)	PUNCT
alkej-160	139	9	target	target	NOUN
alkej-160	139	10	target	target	NOUN
alkej-160	139	11	mohamed	mohamed	PROPN
alkej-160	139	12	jasim	jasim	PROPN
alkej-160	139	13	mohamed	mohamed	PROPN
alkej-160	139	14	al	al	PROPN
alkej-160	139	15	-	-	PUNCT
alkej-160	139	16	khwarizmi	khwarizmi	PROPN
alkej-160	139	17	engineering	engineering	NOUN
alkej-160	139	18	journal	journal	PROPN
alkej-160	139	19	,	,	PUNCT
alkej-160	139	20	vol	vol	NOUN
alkej-160	139	21	.	.	NOUN
alkej-160	139	22	9	9	NUM
alkej-160	139	23	,	,	PUNCT
alkej-160	139	24	no.1	no.1	NUM
alkej-160	139	25	,	,	PUNCT
alkej-160	139	26	p.p.71	p.p.71	NOUN
alkej-160	139	27	-	-	PUNCT
alkej-160	139	28	82	82	NUM
alkej-160	139	29	(	(	PUNCT
alkej-160	139	30	2013	2013	NUM
alkej-160	139	31	)	)	PUNCT
alkej-160	139	32	76	76	NUM
alkej-160	139	33	class	class	NOUN
alkej-160	139	34	1	1	NUM
alkej-160	139	35	:	:	PUNCT
alkej-160	139	36	direct	direct	ADJ
alkej-160	139	37	movement	movement	NOUN
alkej-160	139	38	to	to	ADP
alkej-160	139	39	the	the	DET
alkej-160	139	40	target	target	NOUN
alkej-160	139	41	(	(	PUNCT
alkej-160	139	42	dm	dm	NOUN
alkej-160	139	43	)	)	PUNCT
alkej-160	139	44	.	.	PUNCT
alkej-160	140	1	the	the	DET
alkej-160	140	2	robot	robot	NOUN
alkej-160	140	3	has	have	VERB
alkej-160	140	4	an	an	DET
alkej-160	140	5	angle	angle	NOUN
alkej-160	140	6	equal	equal	ADJ
alkej-160	140	7	to	to	ADP
alkej-160	140	8	zero	zero	NUM
alkej-160	140	9	relative	relative	ADJ
alkej-160	140	10	to	to	ADP
alkej-160	140	11	target	target	NOUN
alkej-160	140	12	point	point	NOUN
alkej-160	140	13	.	.	PUNCT
alkej-160	141	1	class	class	NOUN
alkej-160	141	2	2	2	NUM
alkej-160	141	3	:	:	PUNCT
alkej-160	141	4	clockwise	clockwise	NOUN
alkej-160	141	5	movement	movement	NOUN
alkej-160	141	6	to	to	ADP
alkej-160	141	7	the	the	DET
alkej-160	141	8	target	target	NOUN
alkej-160	141	9	(	(	PUNCT
alkej-160	141	10	cwm	cwm	PROPN
alkej-160	141	11	)	)	PUNCT
alkej-160	141	12	.	.	PUNCT
alkej-160	142	1	the	the	DET
alkej-160	142	2	robot	robot	NOUN
alkej-160	142	3	tries	try	VERB
alkej-160	142	4	to	to	PART
alkej-160	142	5	reach	reach	VERB
alkej-160	142	6	the	the	DET
alkej-160	142	7	target	target	NOUN
alkej-160	142	8	and	and	CCONJ
alkej-160	142	9	avoids	avoid	VERB
alkej-160	142	10	the	the	DET
alkej-160	142	11	obstacles	obstacle	NOUN
alkej-160	142	12	by	by	ADP
alkej-160	142	13	moving	move	VERB
alkej-160	142	14	clockwise	clockwise	NOUN
alkej-160	142	15	direction	direction	NOUN
alkej-160	142	16	.	.	PUNCT
alkej-160	143	1	the	the	DET
alkej-160	143	2	target	target	NOUN
alkej-160	143	3	is	be	AUX
alkej-160	143	4	taken	take	VERB
alkej-160	143	5	as	as	ADP
alkej-160	143	6	the	the	DET
alkej-160	143	7	center	center	NOUN
alkej-160	143	8	of	of	ADP
alkej-160	143	9	motion	motion	NOUN
alkej-160	143	10	.	.	PUNCT
alkej-160	144	1	class	class	NOUN
alkej-160	144	2	3	3	NUM
alkej-160	144	3	:	:	PUNCT
alkej-160	144	4	counter	counter	NOUN
alkej-160	144	5	clockwise	clockwise	NOUN
alkej-160	144	6	movement	movement	NOUN
alkej-160	144	7	to	to	ADP
alkej-160	144	8	the	the	DET
alkej-160	144	9	target	target	NOUN
alkej-160	144	10	(	(	PUNCT
alkej-160	144	11	ccwm	ccwm	NOUN
alkej-160	144	12	)	)	PUNCT
alkej-160	144	13	.	.	PUNCT
alkej-160	145	1	the	the	DET
alkej-160	145	2	robot	robot	NOUN
alkej-160	145	3	tries	try	VERB
alkej-160	145	4	to	to	PART
alkej-160	145	5	reach	reach	VERB
alkej-160	145	6	the	the	DET
alkej-160	145	7	target	target	NOUN
alkej-160	145	8	and	and	CCONJ
alkej-160	145	9	avoids	avoid	VERB
alkej-160	145	10	the	the	DET
alkej-160	145	11	obstacles	obstacle	NOUN
alkej-160	145	12	by	by	ADP
alkej-160	145	13	moving	move	VERB
alkej-160	145	14	counter	counter	ADJ
alkej-160	145	15	clockwise	clockwise	NOUN
alkej-160	145	16	.	.	PUNCT
alkej-160	146	1	the	the	DET
alkej-160	146	2	target	target	NOUN
alkej-160	146	3	is	be	AUX
alkej-160	146	4	taken	take	VERB
alkej-160	146	5	as	as	ADP
alkej-160	146	6	the	the	DET
alkej-160	146	7	center	center	NOUN
alkej-160	146	8	of	of	ADP
alkej-160	146	9	motion	motion	NOUN
alkej-160	146	10	.	.	PUNCT
alkej-160	147	1	b.	b.	PROPN
alkej-160	147	2	sensor	sensor	PROPN
alkej-160	147	3	's	's	PART
alkej-160	147	4	classification	classification	NOUN
alkej-160	147	5	we	we	PRON
alkej-160	147	6	divide	divide	VERB
alkej-160	147	7	the	the	DET
alkej-160	147	8	sensors	sensor	NOUN
alkej-160	147	9	except	except	SCONJ
alkej-160	147	10	the	the	DET
alkej-160	147	11	zero	zero	NUM
alkej-160	147	12	degree	degree	NOUN
alkej-160	147	13	sensor	sensor	NOUN
alkej-160	147	14	into	into	ADP
alkej-160	147	15	two	two	NUM
alkej-160	147	16	groups	group	NOUN
alkej-160	147	17	the	the	DET
alkej-160	147	18	left	left	ADJ
alkej-160	147	19	group	group	NOUN
alkej-160	147	20	or	or	CCONJ
alkej-160	147	21	clockwise	clockwise	NOUN
alkej-160	147	22	group	group	NOUN
alkej-160	147	23	(	(	PUNCT
alkej-160	147	24	the	the	DET
alkej-160	147	25	-40	-40	PROPN
alkej-160	147	26	and	and	CCONJ
alkej-160	147	27	-20	-20	NUM
alkej-160	147	28	angle	angle	NOUN
alkej-160	147	29	's	's	PART
alkej-160	147	30	sensors	sensor	NOUN
alkej-160	147	31	)	)	PUNCT
alkej-160	147	32	and	and	CCONJ
alkej-160	147	33	the	the	DET
alkej-160	147	34	right	right	ADJ
alkej-160	147	35	group	group	NOUN
alkej-160	147	36	or	or	CCONJ
alkej-160	147	37	counter	counter	NOUN
alkej-160	147	38	clockwise	clockwise	NOUN
alkej-160	147	39	group	group	NOUN
alkej-160	147	40	(	(	PUNCT
alkej-160	147	41	the	the	DET
alkej-160	147	42	40	40	NUM
alkej-160	147	43	and	and	CCONJ
alkej-160	147	44	20	20	NUM
alkej-160	147	45	angle	angle	NOUN
alkej-160	147	46	's	's	PART
alkej-160	147	47	sensors	sensor	NOUN
alkej-160	147	48	)	)	PUNCT
alkej-160	147	49	.	.	PUNCT
alkej-160	148	1	figure	figure	NOUN
alkej-160	148	2	(	(	PUNCT
alkej-160	148	3	7	7	X
alkej-160	148	4	)	)	PUNCT
alkej-160	148	5	illustrate	illustrate	VERB
alkej-160	148	6	this	this	DET
alkej-160	148	7	classification	classification	NOUN
alkej-160	148	8	.	.	PUNCT
alkej-160	149	1	figure	figure	NOUN
alkej-160	149	2	(	(	PUNCT
alkej-160	149	3	8)	8)	NUM
alkej-160	149	4	shows	show	VERB
alkej-160	149	5	the	the	DET
alkej-160	149	6	three	three	NUM
alkej-160	149	7	classes	class	NOUN
alkej-160	149	8	of	of	ADP
alkej-160	149	9	motions	motion	NOUN
alkej-160	149	10	.	.	PUNCT
alkej-160	150	1	the	the	DET
alkej-160	150	2	motion	motion	NOUN
alkej-160	150	3	of	of	ADP
alkej-160	150	4	the	the	DET
alkej-160	150	5	robot	robot	NOUN
alkej-160	150	6	at	at	ADP
alkej-160	150	7	the	the	DET
alkej-160	150	8	start	start	NOUN
alkej-160	150	9	point	point	NOUN
alkej-160	150	10	is	be	AUX
alkej-160	150	11	dm	dm	NOUN
alkej-160	150	12	and	and	CCONJ
alkej-160	150	13	at	at	ADP
alkej-160	150	14	this	this	DET
alkej-160	150	15	moment	moment	NOUN
alkej-160	150	16	,	,	PUNCT
alkej-160	150	17	the	the	DET
alkej-160	150	18	off	off	ADJ
alkej-160	150	19	-	-	PUNCT
alkej-160	150	20	sensors	sensor	NOUN
alkej-160	150	21	attractive	attractive	ADJ
alkej-160	150	22	force	force	NOUN
alkej-160	150	23	is	be	AUX
alkej-160	150	24	not	not	PART
alkej-160	150	25	calculated	calculate	VERB
alkej-160	150	26	until	until	SCONJ
alkej-160	150	27	the	the	DET
alkej-160	150	28	robot	robot	NOUN
alkej-160	150	29	changes	change	VERB
alkej-160	150	30	its	its	PRON
alkej-160	150	31	direction	direction	NOUN
alkej-160	150	32	(	(	PUNCT
alkej-160	150	33	collision	collision	NOUN
alkej-160	150	34	is	be	AUX
alkej-160	150	35	detected	detect	VERB
alkej-160	150	36	)	)	PUNCT
alkej-160	150	37	.	.	PUNCT
alkej-160	151	1	if	if	SCONJ
alkej-160	151	2	a	a	DET
alkej-160	151	3	collision	collision	NOUN
alkej-160	151	4	is	be	AUX
alkej-160	151	5	detected	detect	VERB
alkej-160	151	6	,	,	PUNCT
alkej-160	151	7	the	the	DET
alkej-160	151	8	robot	robot	NOUN
alkej-160	151	9	due	due	ADP
alkej-160	151	10	to	to	ADP
alkej-160	151	11	the	the	DET
alkej-160	151	12	prime	prime	ADJ
alkej-160	151	13	repulsive	repulsive	ADJ
alkej-160	151	14	force	force	NOUN
alkej-160	151	15	is	be	AUX
alkej-160	151	16	deviated	deviate	VERB
alkej-160	151	17	.	.	PUNCT
alkej-160	152	1	then	then	ADV
alkej-160	152	2	,	,	PUNCT
alkej-160	152	3	the	the	DET
alkej-160	152	4	motion	motion	NOUN
alkej-160	152	5	of	of	ADP
alkej-160	152	6	the	the	DET
alkej-160	152	7	robot	robot	NOUN
alkej-160	152	8	is	be	AUX
alkej-160	152	9	checked	check	VERB
alkej-160	152	10	whether	whether	SCONJ
alkej-160	152	11	it	it	PRON
alkej-160	152	12	is	be	AUX
alkej-160	152	13	cwm	cwm	NOUN
alkej-160	152	14	or	or	CCONJ
alkej-160	152	15	ccwm	ccwm	NOUN
alkej-160	152	16	.	.	PUNCT
alkej-160	153	1	at	at	ADP
alkej-160	153	2	this	this	DET
alkej-160	153	3	moment	moment	NOUN
alkej-160	153	4	,	,	PUNCT
alkej-160	153	5	the	the	DET
alkej-160	153	6	off	off	ADJ
alkej-160	153	7	-	-	PUNCT
alkej-160	153	8	sensors	sensor	NOUN
alkej-160	153	9	attractive	attractive	ADJ
alkej-160	153	10	force	force	NOUN
alkej-160	153	11	is	be	AUX
alkej-160	153	12	calculated	calculate	VERB
alkej-160	153	13	for	for	ADP
alkej-160	153	14	the	the	DET
alkej-160	153	15	group	group	NOUN
alkej-160	153	16	of	of	ADP
alkej-160	153	17	sensors	sensor	NOUN
alkej-160	153	18	which	which	PRON
alkej-160	153	19	is	be	AUX
alkej-160	153	20	nearest	near	ADJ
alkej-160	153	21	to	to	ADP
alkej-160	153	22	the	the	DET
alkej-160	153	23	target	target	NOUN
alkej-160	153	24	point	point	NOUN
alkej-160	153	25	.	.	PUNCT
alkej-160	154	1	this	this	DET
alkej-160	154	2	off	off	ADP
alkej-160	154	3	-	-	PUNCT
alkej-160	154	4	sensor	sensor	NOUN
alkej-160	154	5	attractive	attractive	ADJ
alkej-160	154	6	force	force	NOUN
alkej-160	154	7	is	be	AUX
alkej-160	154	8	calculated	calculate	VERB
alkej-160	154	9	for	for	ADP
alkej-160	154	10	each	each	DET
alkej-160	154	11	step	step	NOUN
alkej-160	154	12	of	of	ADP
alkej-160	154	13	the	the	DET
alkej-160	154	14	robot	robot	NOUN
alkej-160	154	15	according	accord	VERB
alkej-160	154	16	to	to	ADP
alkej-160	154	17	the	the	DET
alkej-160	154	18	assigned	assign	VERB
alkej-160	154	19	group	group	NOUN
alkej-160	154	20	until	until	SCONJ
alkej-160	154	21	the	the	DET
alkej-160	154	22	motion	motion	NOUN
alkej-160	154	23	of	of	ADP
alkej-160	154	24	the	the	DET
alkej-160	154	25	robot	robot	NOUN
alkej-160	154	26	altered	alter	VERB
alkej-160	154	27	to	to	ADP
alkej-160	154	28	the	the	DET
alkej-160	154	29	dm	dm	PROPN
alkej-160	154	30	.	.	PUNCT
alkej-160	155	1	this	this	PRON
alkej-160	155	2	means	mean	VERB
alkej-160	155	3	that	that	SCONJ
alkej-160	155	4	the	the	DET
alkej-160	155	5	robot	robot	NOUN
alkej-160	155	6	will	will	AUX
alkej-160	155	7	advance	advance	VERB
alkej-160	155	8	to	to	ADP
alkej-160	155	9	the	the	DET
alkej-160	155	10	target	target	NOUN
alkej-160	155	11	point	point	NOUN
alkej-160	155	12	with	with	ADP
alkej-160	155	13	the	the	DET
alkej-160	155	14	current	current	ADJ
alkej-160	155	15	detected	detect	VERB
alkej-160	155	16	motion	motion	NOUN
alkej-160	155	17	(	(	PUNCT
alkej-160	155	18	cwm	cwm	NOUN
alkej-160	155	19	or	or	CCONJ
alkej-160	155	20	ccwm	ccwm	PROPN
alkej-160	155	21	)	)	PUNCT
alkej-160	155	22	until	until	SCONJ
alkej-160	155	23	the	the	DET
alkej-160	155	24	direct	direct	ADJ
alkej-160	155	25	motion	motion	NOUN
alkej-160	155	26	of	of	ADP
alkej-160	155	27	the	the	DET
alkej-160	155	28	robot	robot	NOUN
alkej-160	155	29	dm	dm	PROPN
alkej-160	155	30	is	be	AUX
alkej-160	155	31	detected	detect	VERB
alkej-160	155	32	again	again	ADV
alkej-160	155	33	.	.	PUNCT
alkej-160	156	1	at	at	ADP
alkej-160	156	2	this	this	DET
alkej-160	156	3	moment	moment	NOUN
alkej-160	156	4	,	,	PUNCT
alkej-160	156	5	the	the	DET
alkej-160	156	6	calculation	calculation	NOUN
alkej-160	156	7	of	of	ADP
alkej-160	156	8	the	the	DET
alkej-160	156	9	offsensors	offsensor	NOUN
alkej-160	156	10	attractive	attractive	ADJ
alkej-160	156	11	force	force	NOUN
alkej-160	156	12	is	be	AUX
alkej-160	156	13	stopped	stop	VERB
alkej-160	156	14	and	and	CCONJ
alkej-160	156	15	the	the	DET
alkej-160	156	16	robot	robot	NOUN
alkej-160	156	17	continues	continue	VERB
alkej-160	156	18	on	on	ADP
alkej-160	156	19	its	its	PRON
alkej-160	156	20	direct	direct	ADJ
alkej-160	156	21	motion	motion	NOUN
alkej-160	156	22	to	to	ADP
alkej-160	156	23	the	the	DET
alkej-160	156	24	target	target	NOUN
alkej-160	156	25	.	.	PUNCT
alkej-160	157	1	when	when	SCONJ
alkej-160	157	2	a	a	DET
alkej-160	157	3	new	new	ADJ
alkej-160	157	4	collision	collision	NOUN
alkej-160	157	5	detected	detect	VERB
alkej-160	157	6	again	again	ADV
alkej-160	157	7	,	,	PUNCT
alkej-160	157	8	then	then	ADV
alkej-160	157	9	the	the	DET
alkej-160	157	10	algorithm	algorithm	NOUN
alkej-160	157	11	is	be	AUX
alkej-160	157	12	restarted	restart	VERB
alkej-160	157	13	in	in	ADP
alkej-160	157	14	same	same	ADJ
alkej-160	157	15	way	way	NOUN
alkej-160	157	16	.	.	PUNCT
alkej-160	158	1	after	after	SCONJ
alkej-160	158	2	the	the	DET
alkej-160	158	3	right	right	ADJ
alkej-160	158	4	group	group	NOUN
alkej-160	158	5	of	of	ADP
alkej-160	158	6	sensors	sensor	NOUN
alkej-160	158	7	is	be	AUX
alkej-160	158	8	specified	specify	VERB
alkej-160	158	9	,	,	PUNCT
alkej-160	158	10	the	the	DET
alkej-160	158	11	off	off	ADP
alkej-160	158	12	-	-	PUNCT
alkej-160	158	13	sensor	sensor	NOUN
alkej-160	158	14	attractive	attractive	ADJ
alkej-160	158	15	force	force	NOUN
alkej-160	158	16	and	and	CCONJ
alkej-160	158	17	its	its	PRON
alkej-160	158	18	gradient	gradient	NOUN
alkej-160	158	19	are	be	AUX
alkej-160	158	20	calculated	calculate	VERB
alkej-160	158	21	for	for	ADP
alkej-160	158	22	the	the	DET
alkej-160	158	23	specific	specific	ADJ
alkej-160	158	24	two	two	NUM
alkej-160	158	25	sensors	sensor	NOUN
alkej-160	158	26	as	as	ADP
alkej-160	158	27	in	in	ADP
alkej-160	158	28	equation	equation	NOUN
alkej-160	158	29	(	(	PUNCT
alkej-160	158	30	14	14	NUM
alkej-160	158	31	)	)	PUNCT
alkej-160	158	32	and	and	CCONJ
alkej-160	158	33	(	(	PUNCT
alkej-160	158	34	15	15	NUM
alkej-160	158	35	)	)	PUNCT
alkej-160	158	36	.	.	PUNCT
alkej-160	159	1	(	(	PUNCT
alkej-160	159	2	)	)	PUNCT
alkej-160	159	3	=	=	SYM
alkej-160	159	4	∑	∑	PUNCT
alkej-160	159	5	(	(	PUNCT
alkej-160	159	6	,	,	PUNCT
alkej-160	159	7	)	)	PUNCT
alkej-160	159	8	×	×	NOUN
alkej-160	159	9	…	…	PUNCT
alkej-160	159	10	(	(	PUNCT
alkej-160	159	11	14	14	NUM
alkej-160	159	12	)	)	PUNCT
alkej-160	159	13	(	(	PUNCT
alkej-160	159	14	)	)	PUNCT
alkej-160	159	15	=	=	SYM
alkej-160	159	16	−	−	PROPN
alkej-160	159	17	(	(	PUNCT
alkej-160	159	18	,	,	PUNCT
alkej-160	159	19	)	)	PUNCT
alkej-160	159	20	×	×	NOUN
alkej-160	159	21	…	…	PUNCT
alkej-160	159	22	(	(	PUNCT
alkej-160	159	23	15	15	NUM
alkej-160	159	24	)	)	PUNCT
alkej-160	159	25	in	in	ADP
alkej-160	159	26	(	(	PUNCT
alkej-160	159	27	14	14	NUM
alkej-160	159	28	)	)	PUNCT
alkej-160	159	29	and	and	CCONJ
alkej-160	159	30	(	(	PUNCT
alkej-160	159	31	15	15	NUM
alkej-160	159	32	)	)	PUNCT
alkej-160	159	33	chosen	choose	VERB
alkej-160	159	34	to	to	PART
alkej-160	159	35	be	be	AUX
alkej-160	159	36	1	1	NUM
alkej-160	159	37	,	,	PUNCT
alkej-160	159	38	are	be	AUX
alkej-160	159	39	the	the	DET
alkej-160	159	40	points	point	NOUN
alkej-160	159	41	of	of	ADP
alkej-160	159	42	the	the	DET
alkej-160	159	43	off	off	ADP
alkej-160	159	44	-	-	PUNCT
alkej-160	159	45	sensor	sensor	NOUN
alkej-160	159	46	attractive	attractive	ADJ
alkej-160	159	47	force	force	NOUN
alkej-160	159	48	taken	take	VERB
alkej-160	159	49	at	at	ADP
alkej-160	159	50	the	the	DET
alkej-160	159	51	end	end	NOUN
alkej-160	159	52	of	of	ADP
alkej-160	159	53	each	each	DET
alkej-160	159	54	sensor	sensor	NOUN
alkej-160	159	55	range	range	NOUN
alkej-160	159	56	as	as	SCONJ
alkej-160	159	57	shown	show	VERB
alkej-160	159	58	in	in	ADP
alkej-160	159	59	figure	figure	NOUN
alkej-160	159	60	(	(	PUNCT
alkej-160	159	61	7	7	NUM
alkej-160	159	62	)	)	PUNCT
alkej-160	159	63	and	and	CCONJ
alkej-160	159	64	is	be	AUX
alkej-160	159	65	a	a	DET
alkej-160	159	66	binary	binary	ADJ
alkej-160	159	67	flag	flag	NOUN
alkej-160	159	68	represents	represent	VERB
alkej-160	159	69	the	the	DET
alkej-160	159	70	condition	condition	NOUN
alkej-160	159	71	of	of	ADP
alkej-160	159	72	the	the	DET
alkej-160	159	73	sensor	sensor	NOUN
alkej-160	159	74	;	;	PUNCT
alkej-160	159	75	1	1	NUM
alkej-160	159	76	for	for	ADP
alkej-160	159	77	off	off	ADP
alkej-160	159	78	sensor	sensor	NOUN
alkej-160	159	79	and	and	CCONJ
alkej-160	159	80	0	0	NUM
alkej-160	159	81	for	for	ADP
alkej-160	159	82	on	on	ADP
alkej-160	159	83	sensor	sensor	NOUN
alkej-160	159	84	.	.	PUNCT
alkej-160	160	1	this	this	DET
alkej-160	160	2	force	force	NOUN
alkej-160	160	3	has	have	VERB
alkej-160	160	4	another	another	DET
alkej-160	160	5	major	major	ADJ
alkej-160	160	6	importance	importance	NOUN
alkej-160	160	7	where	where	SCONJ
alkej-160	160	8	it	it	PRON
alkej-160	160	9	reduces	reduce	VERB
alkej-160	160	10	the	the	DET
alkej-160	160	11	effect	effect	NOUN
alkej-160	160	12	of	of	ADP
alkej-160	160	13	midpoint	midpoint	NOUN
alkej-160	160	14	repulsive	repulsive	ADJ
alkej-160	160	15	force	force	NOUN
alkej-160	160	16	.	.	PUNCT
alkej-160	161	1	right	right	ADJ
alkej-160	161	2	group	group	NOUN
alkej-160	161	3	sensors	sensor	NOUN
alkej-160	161	4	left	leave	VERB
alkej-160	161	5	group	group	NOUN
alkej-160	161	6	sensors	sensor	NOUN
alkej-160	161	7	off	off	ADP
alkej-160	161	8	-	-	PUNCT
alkej-160	161	9	sensor	sensor	NOUN
alkej-160	161	10	attractive	attractive	ADJ
alkej-160	161	11	force	force	NOUN
alkej-160	161	12	points	point	VERB
alkej-160	161	13	fig	fig	NOUN
alkej-160	161	14	.	.	PUNCT
alkej-160	162	1	7.off	7.off	NOUN
alkej-160	162	2	-	-	PUNCT
alkej-160	162	3	sensor	sensor	NOUN
alkej-160	162	4	attractive	attractive	ADJ
alkej-160	162	5	force	force	NOUN
alkej-160	162	6	.	.	PUNCT
alkej-160	163	1	fig	fig	NOUN
alkej-160	163	2	.	.	PUNCT
alkej-160	164	1	9	9	X
alkej-160	164	2	.	.	X
alkej-160	164	3	off	off	ADP
alkej-160	164	4	-	-	PUNCT
alkej-160	164	5	sensors	sensor	NOUN
alkej-160	164	6	attractive	attractive	ADJ
alkej-160	164	7	force	force	NOUN
alkej-160	164	8	effect	effect	NOUN
alkej-160	164	9	.	.	PUNCT
alkej-160	165	1	(	(	PUNCT
alkej-160	165	2	a	a	X
alkej-160	165	3	)	)	PUNCT
alkej-160	165	4	without	without	ADP
alkej-160	165	5	off	off	ADP
alkej-160	165	6	-	-	PUNCT
alkej-160	165	7	sensors	sensor	NOUN
alkej-160	165	8	attractive	attractive	ADJ
alkej-160	165	9	force	force	NOUN
alkej-160	165	10	.	.	PUNCT
alkej-160	166	1	(	(	PUNCT
alkej-160	166	2	b	b	X
alkej-160	166	3	)	)	PUNCT
alkej-160	166	4	with	with	ADP
alkej-160	166	5	off	off	ADP
alkej-160	166	6	-	-	PUNCT
alkej-160	166	7	sensors	sensor	NOUN
alkej-160	166	8	attractive	attractive	ADJ
alkej-160	166	9	force	force	NOUN
alkej-160	166	10	.	.	PUNCT
alkej-160	167	1	(	(	PUNCT
alkej-160	167	2	a	a	X
alkej-160	167	3	)	)	PUNCT
alkej-160	167	4	(	(	PUNCT
alkej-160	167	5	b	b	X
alkej-160	167	6	)	)	PUNCT
alkej-160	167	7	start	start	VERB
alkej-160	167	8	target	target	NOUN
alkej-160	167	9	start	start	NOUN
alkej-160	167	10	target	target	NOUN
alkej-160	167	11	target	target	NOUN
alkej-160	167	12	target	target	NOUN
alkej-160	167	13	target	target	NOUN
alkej-160	167	14	(	(	PUNCT
alkej-160	167	15	a	a	NOUN
alkej-160	167	16	)	)	PUNCT
alkej-160	167	17	(	(	PUNCT
alkej-160	167	18	b	b	X
alkej-160	167	19	(	(	PUNCT
alkej-160	167	20	c	c	NOUN
alkej-160	167	21	)	)	PUNCT
alkej-160	167	22	fig	fig	NOUN
alkej-160	167	23	.	.	PUNCT
alkej-160	168	1	8.robot	8.robot	NUM
alkej-160	168	2	motion	motion	NOUN
alkej-160	168	3	classification	classification	NOUN
alkej-160	168	4	.	.	PUNCT
alkej-160	169	1	(	(	PUNCT
alkej-160	169	2	a	a	X
alkej-160	169	3	)	)	PUNCT
alkej-160	169	4	dtt	dtt	NOUN
alkej-160	169	5	.	.	PUNCT
alkej-160	170	1	(	(	PUNCT
alkej-160	170	2	b	b	X
alkej-160	170	3	)	)	PUNCT
alkej-160	170	4	cwdt	cwdt	NOUN
alkej-160	170	5	.	.	PUNCT
alkej-160	171	1	(	(	PUNCT
alkej-160	171	2	c	c	X
alkej-160	171	3	)	)	PUNCT
alkej-160	171	4	ccwdt	ccwdt	NOUN
alkej-160	171	5	.	.	PUNCT
alkej-160	172	1	mohamed	mohamed	PROPN
alkej-160	172	2	jasim	jasim	PROPN
alkej-160	172	3	mohamed	mohamed	PROPN
alkej-160	172	4	al	al	PROPN
alkej-160	172	5	-	-	PUNCT
alkej-160	172	6	khwarizmi	khwarizmi	PROPN
alkej-160	172	7	engineering	engineering	NOUN
alkej-160	172	8	journal	journal	PROPN
alkej-160	172	9	,	,	PUNCT
alkej-160	172	10	vol	vol	NOUN
alkej-160	172	11	.	.	NOUN
alkej-160	172	12	9	9	NUM
alkej-160	172	13	,	,	PUNCT
alkej-160	172	14	no.1	no.1	NUM
alkej-160	172	15	,	,	PUNCT
alkej-160	172	16	p.p.71	p.p.71	NOUN
alkej-160	172	17	-	-	PUNCT
alkej-160	172	18	82	82	NUM
alkej-160	172	19	(	(	PUNCT
alkej-160	172	20	2013	2013	NUM
alkej-160	172	21	)	)	PUNCT
alkej-160	172	22	77	77	NUM
alkej-160	172	23	in	in	ADP
alkej-160	172	24	fact	fact	NOUN
alkej-160	172	25	,	,	PUNCT
alkej-160	172	26	the	the	DET
alkej-160	172	27	midpoint	midpoint	NOUN
alkej-160	172	28	repulsive	repulsive	ADJ
alkej-160	172	29	force	force	NOUN
alkej-160	172	30	is	be	AUX
alkej-160	172	31	calculated	calculate	VERB
alkej-160	172	32	always	always	ADV
alkej-160	172	33	even	even	ADV
alkej-160	172	34	when	when	SCONJ
alkej-160	172	35	the	the	DET
alkej-160	172	36	robot	robot	NOUN
alkej-160	172	37	is	be	AUX
alkej-160	172	38	far	far	ADV
alkej-160	172	39	from	from	ADP
alkej-160	172	40	the	the	DET
alkej-160	172	41	midpoint	midpoint	NOUN
alkej-160	172	42	.	.	PUNCT
alkej-160	173	1	this	this	PRON
alkej-160	173	2	may	may	AUX
alkej-160	173	3	direct	direct	VERB
alkej-160	173	4	the	the	DET
alkej-160	173	5	robot	robot	NOUN
alkej-160	173	6	away	away	ADV
alkej-160	173	7	from	from	ADP
alkej-160	173	8	the	the	DET
alkej-160	173	9	target	target	NOUN
alkej-160	173	10	.	.	PUNCT
alkej-160	174	1	so	so	ADV
alkej-160	174	2	the	the	DET
alkej-160	174	3	off	off	ADJ
alkej-160	174	4	-	-	PUNCT
alkej-160	174	5	sensors	sensor	NOUN
alkej-160	174	6	attractive	attractive	ADJ
alkej-160	174	7	force	force	NOUN
alkej-160	174	8	ensures	ensure	VERB
alkej-160	174	9	that	that	SCONJ
alkej-160	174	10	the	the	DET
alkej-160	174	11	robot	robot	NOUN
alkej-160	174	12	will	will	AUX
alkej-160	174	13	not	not	PART
alkej-160	174	14	go	go	VERB
alkej-160	174	15	so	so	ADV
alkej-160	174	16	far	far	ADV
alkej-160	174	17	in	in	ADP
alkej-160	174	18	its	its	PRON
alkej-160	174	19	attempts	attempt	NOUN
alkej-160	174	20	to	to	PART
alkej-160	174	21	avoid	avoid	VERB
alkej-160	174	22	the	the	DET
alkej-160	174	23	dead	dead	ADJ
alkej-160	174	24	ends	end	NOUN
alkej-160	174	25	and	and	CCONJ
alkej-160	174	26	u	u	NOUN
alkej-160	174	27	shape	shape	NOUN
alkej-160	174	28	traps	trap	NOUN
alkej-160	174	29	.	.	PUNCT
alkej-160	175	1	figure	figure	NOUN
alkej-160	175	2	(	(	PUNCT
alkej-160	175	3	9	9	NUM
alkej-160	175	4	)	)	PUNCT
alkej-160	175	5	shows	show	VERB
alkej-160	175	6	the	the	DET
alkej-160	175	7	effect	effect	NOUN
alkej-160	175	8	of	of	ADP
alkej-160	175	9	the	the	DET
alkej-160	175	10	off	off	ADJ
alkej-160	175	11	-	-	PUNCT
alkej-160	175	12	sensors	sensor	NOUN
alkej-160	175	13	attractive	attractive	ADJ
alkej-160	175	14	force	force	NOUN
alkej-160	175	15	.	.	PUNCT
alkej-160	176	1	i.	i.	NOUN
alkej-160	176	2	direction	direction	NOUN
alkej-160	176	3	and	and	CCONJ
alkej-160	176	4	step	step	NOUN
alkej-160	176	5	size	size	NOUN
alkej-160	176	6	the	the	DET
alkej-160	176	7	attractive	attractive	ADJ
alkej-160	176	8	forces	force	NOUN
alkej-160	176	9	and	and	CCONJ
alkej-160	176	10	the	the	DET
alkej-160	176	11	repulsive	repulsive	ADJ
alkej-160	176	12	forces	force	NOUN
alkej-160	176	13	are	be	AUX
alkej-160	176	14	used	use	VERB
alkej-160	176	15	to	to	PART
alkej-160	176	16	obtain	obtain	VERB
alkej-160	176	17	the	the	DET
alkej-160	176	18	direction	direction	NOUN
alkej-160	176	19	of	of	ADP
alkej-160	176	20	the	the	DET
alkej-160	176	21	robot	robot	NOUN
alkej-160	176	22	only	only	ADV
alkej-160	176	23	.	.	PUNCT
alkej-160	177	1	the	the	DET
alkej-160	177	2	gradient	gradient	NOUN
alkej-160	177	3	of	of	ADP
alkej-160	177	4	force	force	NOUN
alkej-160	177	5	is	be	AUX
alkej-160	177	6	calculated	calculate	VERB
alkej-160	177	7	according	accord	VERB
alkej-160	177	8	to	to	ADP
alkej-160	177	9	equation	equation	NOUN
alkej-160	177	10	(	(	PUNCT
alkej-160	177	11	16	16	NUM
alkej-160	177	12	)	)	PUNCT
alkej-160	177	13	.	.	PUNCT
alkej-160	178	1	=	=	PUNCT
alkej-160	178	2	−	−	PROPN
alkej-160	178	3	(	(	PUNCT
alkej-160	178	4	+	+	X
alkej-160	178	5	+	+	CCONJ
alkej-160	178	6	+	+	X
alkej-160	178	7	)	)	PUNCT
alkej-160	178	8	…	…	PUNCT
alkej-160	178	9	(	(	PUNCT
alkej-160	178	10	16	16	NUM
alkej-160	178	11	)	)	PUNCT
alkej-160	178	12	the	the	DET
alkej-160	178	13	direction	direction	NOUN
alkej-160	178	14	of	of	ADP
alkej-160	178	15	the	the	DET
alkej-160	178	16	robot	robot	NOUN
alkej-160	178	17	is	be	AUX
alkej-160	178	18	found	find	VERB
alkej-160	178	19	according	accord	VERB
alkej-160	178	20	to	to	ADP
alkej-160	178	21	equation	equation	NOUN
alkej-160	178	22	(	(	PUNCT
alkej-160	178	23	17	17	NUM
alkej-160	178	24	)	)	PUNCT
alkej-160	178	25	.	.	PUNCT
alkej-160	179	1	=	=	PUNCT
alkej-160	179	2	…	…	PUNCT
alkej-160	179	3	(	(	PUNCT
alkej-160	179	4	17	17	NUM
alkej-160	179	5	)	)	PUNCT
alkej-160	179	6	when	when	SCONJ
alkej-160	179	7	the	the	DET
alkej-160	179	8	direction	direction	NOUN
alkej-160	179	9	of	of	ADP
alkej-160	179	10	the	the	DET
alkej-160	179	11	robot	robot	NOUN
alkej-160	179	12	is	be	AUX
alkej-160	179	13	calculated	calculate	VERB
alkej-160	179	14	,	,	PUNCT
alkej-160	179	15	we	we	PRON
alkej-160	179	16	need	need	VERB
alkej-160	179	17	to	to	PART
alkej-160	179	18	calculate	calculate	VERB
alkej-160	179	19	the	the	DET
alkej-160	179	20	step	step	NOUN
alkej-160	179	21	size	size	NOUN
alkej-160	179	22	of	of	ADP
alkej-160	179	23	movement	movement	NOUN
alkej-160	179	24	.	.	PUNCT
alkej-160	180	1	the	the	DET
alkej-160	180	2	step	step	NOUN
alkej-160	180	3	size	size	NOUN
alkej-160	180	4	calculation	calculation	NOUN
alkej-160	180	5	is	be	AUX
alkej-160	180	6	done	do	VERB
alkej-160	180	7	according	accord	VERB
alkej-160	180	8	to	to	ADP
alkej-160	180	9	two	two	NUM
alkej-160	180	10	cases	case	NOUN
alkej-160	180	11	,	,	PUNCT
alkej-160	180	12	these	these	DET
alkej-160	180	13	cases	case	NOUN
alkej-160	180	14	are	be	AUX
alkej-160	180	15	;	;	PUNCT
alkej-160	180	16	case	case	NOUN
alkej-160	180	17	1	1	NUM
alkej-160	180	18	:	:	PUNCT
alkej-160	180	19	free	free	ADJ
alkej-160	180	20	robot	robot	NOUN
alkej-160	180	21	motion	motion	NOUN
alkej-160	180	22	.	.	PUNCT
alkej-160	181	1	in	in	ADP
alkej-160	181	2	this	this	DET
alkej-160	181	3	case	case	NOUN
alkej-160	181	4	,	,	PUNCT
alkej-160	181	5	the	the	DET
alkej-160	181	6	sensors	sensor	NOUN
alkej-160	181	7	detect	detect	VERB
alkej-160	181	8	no	no	DET
alkej-160	181	9	collision	collision	NOUN
alkej-160	181	10	and	and	CCONJ
alkej-160	181	11	the	the	DET
alkej-160	181	12	step	step	NOUN
alkej-160	181	13	size	size	NOUN
alkej-160	181	14	is	be	AUX
alkej-160	181	15	initialized	initialize	VERB
alkej-160	181	16	to	to	PART
alkej-160	181	17	distance	distance	NOUN
alkej-160	181	18	equal	equal	ADJ
alkej-160	181	19	to	to	ADP
alkej-160	181	20	the	the	DET
alkej-160	181	21	sensor	sensor	NOUN
alkej-160	181	22	range	range	NOUN
alkej-160	181	23	(	(	PUNCT
alkej-160	181	24	80	80	NUM
alkej-160	181	25	cm	cm	NOUN
alkej-160	181	26	)	)	PUNCT
alkej-160	181	27	.	.	PUNCT
alkej-160	182	1	the	the	DET
alkej-160	182	2	reason	reason	NOUN
alkej-160	182	3	for	for	ADP
alkej-160	182	4	this	this	PRON
alkej-160	182	5	is	be	AUX
alkej-160	182	6	that	that	SCONJ
alkej-160	182	7	,	,	PUNCT
alkej-160	182	8	in	in	ADP
alkej-160	182	9	free	free	ADJ
alkej-160	182	10	robot	robot	NOUN
alkej-160	182	11	motion	motion	NOUN
alkej-160	182	12	all	all	PRON
alkej-160	182	13	we	we	PRON
alkej-160	182	14	need	need	VERB
alkej-160	182	15	to	to	PART
alkej-160	182	16	ensure	ensure	VERB
alkej-160	182	17	that	that	SCONJ
alkej-160	182	18	there	there	PRON
alkej-160	182	19	is	be	VERB
alkej-160	182	20	no	no	DET
alkej-160	182	21	obstacle	obstacle	NOUN
alkej-160	182	22	in	in	ADP
alkej-160	182	23	front	front	NOUN
alkej-160	182	24	of	of	ADP
alkej-160	182	25	the	the	DET
alkej-160	182	26	robot	robot	NOUN
alkej-160	182	27	within	within	ADP
alkej-160	182	28	range	range	NOUN
alkej-160	182	29	of	of	ADP
alkej-160	182	30	the	the	DET
alkej-160	182	31	sensor	sensor	NOUN
alkej-160	182	32	only	only	ADV
alkej-160	182	33	.	.	PUNCT
alkej-160	183	1	case	case	NOUN
alkej-160	183	2	2	2	NUM
alkej-160	183	3	:	:	PUNCT
alkej-160	183	4	when	when	SCONJ
alkej-160	183	5	the	the	DET
alkej-160	183	6	collision	collision	NOUN
alkej-160	183	7	is	be	AUX
alkej-160	183	8	detected	detect	VERB
alkej-160	183	9	.	.	PUNCT
alkej-160	184	1	the	the	DET
alkej-160	184	2	step	step	NOUN
alkej-160	184	3	size	size	NOUN
alkej-160	184	4	is	be	AUX
alkej-160	184	5	taken	take	VERB
alkej-160	184	6	as	as	ADP
alkej-160	184	7	the	the	DET
alkej-160	184	8	summation	summation	NOUN
alkej-160	184	9	of	of	ADP
alkej-160	184	10	the	the	DET
alkej-160	184	11	maximum	maximum	ADJ
alkej-160	184	12	detected	detect	VERB
alkej-160	184	13	distance	distance	NOUN
alkej-160	184	14	and	and	CCONJ
alkej-160	184	15	the	the	DET
alkej-160	184	16	robot	robot	NOUN
alkej-160	184	17	width	width	NOUN
alkej-160	184	18	.	.	PUNCT
alkej-160	185	1	ii	ii	PROPN
alkej-160	185	2	.	.	PROPN
alkej-160	186	1	near	near	ADP
alkej-160	186	2	target	target	NOUN
alkej-160	186	3	behavior	behavior	NOUN
alkej-160	186	4	although	although	SCONJ
alkej-160	186	5	the	the	DET
alkej-160	186	6	proposed	propose	VERB
alkej-160	186	7	algorithm	algorithm	NOUN
alkej-160	186	8	is	be	AUX
alkej-160	186	9	enhanced	enhance	VERB
alkej-160	186	10	to	to	PART
alkej-160	186	11	overcome	overcome	VERB
alkej-160	186	12	drawbacks	drawback	NOUN
alkej-160	186	13	in	in	ADP
alkej-160	186	14	the	the	DET
alkej-160	186	15	classical	classical	ADJ
alkej-160	186	16	algorithm	algorithm	NOUN
alkej-160	186	17	,	,	PUNCT
alkej-160	186	18	the	the	DET
alkej-160	186	19	algorithm	algorithm	NOUN
alkej-160	186	20	still	still	ADV
alkej-160	186	21	has	have	VERB
alkej-160	186	22	some	some	DET
alkej-160	186	23	difficulties	difficulty	NOUN
alkej-160	186	24	to	to	PART
alkej-160	186	25	lead	lead	VERB
alkej-160	186	26	the	the	DET
alkej-160	186	27	robot	robot	NOUN
alkej-160	186	28	to	to	ADP
alkej-160	186	29	special	special	ADJ
alkej-160	186	30	kind	kind	NOUN
alkej-160	186	31	of	of	ADP
alkej-160	186	32	targets	target	NOUN
alkej-160	186	33	.	.	PUNCT
alkej-160	187	1	when	when	SCONJ
alkej-160	187	2	the	the	DET
alkej-160	187	3	target	target	NOUN
alkej-160	187	4	lies	lie	VERB
alkej-160	187	5	near	near	ADP
alkej-160	187	6	narrow	narrow	ADJ
alkej-160	187	7	corners	corner	NOUN
alkej-160	187	8	and	and	CCONJ
alkej-160	187	9	when	when	SCONJ
alkej-160	187	10	the	the	DET
alkej-160	187	11	target	target	NOUN
alkej-160	187	12	lies	lie	VERB
alkej-160	187	13	between	between	ADP
alkej-160	187	14	two	two	NUM
alkej-160	187	15	closed	closed	ADJ
alkej-160	187	16	obstacles	obstacle	NOUN
alkej-160	187	17	.	.	PUNCT
alkej-160	188	1	according	accord	VERB
alkej-160	188	2	to	to	ADP
alkej-160	188	3	the	the	DET
alkej-160	188	4	algorithm	algorithm	NOUN
alkej-160	188	5	,	,	PUNCT
alkej-160	188	6	the	the	DET
alkej-160	188	7	robot	robot	NOUN
alkej-160	188	8	may	may	AUX
alkej-160	188	9	change	change	VERB
alkej-160	188	10	its	its	PRON
alkej-160	188	11	direction	direction	NOUN
alkej-160	188	12	before	before	SCONJ
alkej-160	188	13	the	the	DET
alkej-160	188	14	robot	robot	NOUN
alkej-160	188	15	reaches	reach	VERB
alkej-160	188	16	the	the	DET
alkej-160	188	17	target	target	NOUN
alkej-160	188	18	because	because	SCONJ
alkej-160	188	19	of	of	ADP
alkej-160	188	20	the	the	DET
alkej-160	188	21	effect	effect	NOUN
alkej-160	188	22	of	of	ADP
alkej-160	188	23	repulsive	repulsive	ADJ
alkej-160	188	24	force	force	NOUN
alkej-160	188	25	of	of	ADP
alkej-160	188	26	the	the	DET
alkej-160	188	27	near	near	ADJ
alkej-160	188	28	target	target	NOUN
alkej-160	188	29	detected	detect	VERB
alkej-160	188	30	points	point	NOUN
alkej-160	188	31	as	as	SCONJ
alkej-160	188	32	shown	show	VERB
alkej-160	188	33	in	in	ADP
alkej-160	188	34	figure	figure	NOUN
alkej-160	188	35	(	(	PUNCT
alkej-160	188	36	10	10	NUM
alkej-160	188	37	)	)	PUNCT
alkej-160	188	38	.	.	PUNCT
alkej-160	189	1	thus	thus	ADV
alkej-160	189	2	,	,	PUNCT
alkej-160	189	3	when	when	SCONJ
alkej-160	189	4	the	the	DET
alkej-160	189	5	robot	robot	NOUN
alkej-160	189	6	becomes	become	VERB
alkej-160	189	7	at	at	ADP
alkej-160	189	8	a	a	DET
alkej-160	189	9	distance	distance	NOUN
alkej-160	189	10	from	from	ADP
alkej-160	189	11	the	the	DET
alkej-160	189	12	target	target	NOUN
alkej-160	189	13	less	less	ADJ
alkej-160	189	14	than	than	ADP
alkej-160	189	15	the	the	DET
alkej-160	189	16	sensor	sensor	NOUN
alkej-160	189	17	range	range	NOUN
alkej-160	189	18	,	,	PUNCT
alkej-160	189	19	the	the	DET
alkej-160	189	20	behavior	behavior	NOUN
alkej-160	189	21	of	of	ADP
alkej-160	189	22	the	the	DET
alkej-160	189	23	algorithm	algorithm	NOUN
alkej-160	189	24	is	be	AUX
alkej-160	189	25	changed	change	VERB
alkej-160	189	26	.	.	PUNCT
alkej-160	190	1	the	the	DET
alkej-160	190	2	midpoint	midpoint	NOUN
alkej-160	190	3	repulsive	repulsive	ADJ
alkej-160	190	4	force	force	NOUN
alkej-160	190	5	and	and	CCONJ
alkej-160	190	6	the	the	DET
alkej-160	190	7	off	off	ADJ
alkej-160	190	8	-	-	PUNCT
alkej-160	190	9	sensors	sensor	NOUN
alkej-160	190	10	attractive	attractive	ADJ
alkej-160	190	11	force	force	NOUN
alkej-160	190	12	will	will	AUX
alkej-160	190	13	no	no	ADV
alkej-160	190	14	longer	long	ADV
alkej-160	190	15	active	active	ADJ
alkej-160	190	16	.	.	PUNCT
alkej-160	191	1	the	the	DET
alkej-160	191	2	step	step	NOUN
alkej-160	191	3	size	size	NOUN
alkej-160	191	4	will	will	AUX
alkej-160	191	5	be	be	AUX
alkej-160	191	6	equal	equal	ADJ
alkej-160	191	7	to	to	ADP
alkej-160	191	8	the	the	DET
alkej-160	191	9	distance	distance	NOUN
alkej-160	191	10	from	from	ADP
alkej-160	191	11	the	the	DET
alkej-160	191	12	robot	robot	NOUN
alkej-160	191	13	to	to	ADP
alkej-160	191	14	the	the	DET
alkej-160	191	15	target	target	NOUN
alkej-160	191	16	.	.	PUNCT
alkej-160	192	1	this	this	PRON
alkej-160	192	2	will	will	AUX
alkej-160	192	3	lead	lead	VERB
alkej-160	192	4	the	the	DET
alkej-160	192	5	robot	robot	NOUN
alkej-160	192	6	to	to	ADP
alkej-160	192	7	the	the	DET
alkej-160	192	8	target	target	NOUN
alkej-160	192	9	without	without	ADP
alkej-160	192	10	any	any	DET
alkej-160	192	11	additional	additional	ADJ
alkej-160	192	12	actions	action	NOUN
alkej-160	192	13	.	.	PUNCT
alkej-160	193	1	for	for	ADP
alkej-160	193	2	better	well	ADJ
alkej-160	193	3	understanding	understanding	NOUN
alkej-160	193	4	of	of	ADP
alkej-160	193	5	the	the	DET
alkej-160	193	6	proposed	propose	VERB
alkej-160	193	7	algorithm	algorithm	NOUN
alkej-160	193	8	,	,	PUNCT
alkej-160	193	9	the	the	DET
alkej-160	193	10	previous	previous	ADJ
alkej-160	193	11	steps	step	NOUN
alkej-160	193	12	of	of	ADP
alkej-160	193	13	algorithm	algorithm	NOUN
alkej-160	193	14	are	be	AUX
alkej-160	193	15	illustrated	illustrate	VERB
alkej-160	193	16	in	in	ADP
alkej-160	193	17	flowchart	flowchart	NOUN
alkej-160	193	18	shown	show	VERB
alkej-160	193	19	in	in	ADP
alkej-160	193	20	figure	figure	NOUN
alkej-160	193	21	(	(	PUNCT
alkej-160	193	22	11	11	NUM
alkej-160	193	23	)	)	PUNCT
alkej-160	193	24	.	.	PUNCT
alkej-160	194	1	fig	fig	NOUN
alkej-160	194	2	.	.	PUNCT
alkej-160	195	1	10	10	NUM
alkej-160	195	2	.	.	PUNCT
alkej-160	196	1	near	near	ADP
alkej-160	196	2	target	target	NOUN
alkej-160	196	3	behavior	behavior	NOUN
alkej-160	196	4	.	.	PUNCT
alkej-160	197	1	(	(	PUNCT
alkej-160	197	2	a	a	X
alkej-160	197	3	)	)	PUNCT
alkej-160	197	4	without	without	ADP
alkej-160	197	5	near	near	ADP
alkej-160	197	6	target	target	NOUN
alkej-160	197	7	behavior	behavior	NOUN
alkej-160	197	8	.	.	PUNCT
alkej-160	198	1	(	(	PUNCT
alkej-160	198	2	b	b	X
alkej-160	198	3	)	)	PUNCT
alkej-160	198	4	with	with	ADP
alkej-160	198	5	near	near	ADJ
alkej-160	198	6	target	target	NOUN
alkej-160	198	7	behavior	behavior	NOUN
alkej-160	198	8	.	.	PUNCT
alkej-160	199	1	target	target	NOUN
alkej-160	199	2	start	start	VERB
alkej-160	199	3	target	target	NOUN
alkej-160	199	4	start	start	NOUN
alkej-160	199	5	(	(	PUNCT
alkej-160	199	6	a	a	NOUN
alkej-160	199	7	)	)	PUNCT
alkej-160	199	8	(	(	PUNCT
alkej-160	199	9	b	b	X
alkej-160	199	10	)	)	PUNCT
alkej-160	199	11	mohamed	mohamed	PROPN
alkej-160	199	12	jasim	jasim	PROPN
alkej-160	199	13	mohamed	mohamed	PROPN
alkej-160	199	14	al	al	PROPN
alkej-160	199	15	-	-	PUNCT
alkej-160	199	16	khwarizmi	khwarizmi	PROPN
alkej-160	199	17	engineering	engineering	NOUN
alkej-160	199	18	journal	journal	PROPN
alkej-160	199	19	,	,	PUNCT
alkej-160	199	20	vol	vol	NOUN
alkej-160	199	21	.	.	NOUN
alkej-160	199	22	9	9	NUM
alkej-160	199	23	,	,	PUNCT
alkej-160	199	24	no.1	no.1	NUM
alkej-160	199	25	,	,	PUNCT
alkej-160	199	26	p.p.71	p.p.71	NOUN
alkej-160	199	27	-	-	PUNCT
alkej-160	199	28	82	82	NUM
alkej-160	199	29	(	(	PUNCT
alkej-160	199	30	2013	2013	NUM
alkej-160	199	31	)	)	PUNCT
alkej-160	199	32	78	78	NUM
alkej-160	199	33	6	6	NUM
alkej-160	199	34	.	.	PUNCT
alkej-160	199	35	simulation	simulation	NOUN
alkej-160	199	36	and	and	CCONJ
alkej-160	199	37	results	result	VERB
alkej-160	199	38	this	this	DET
alkej-160	199	39	section	section	NOUN
alkej-160	199	40	is	be	AUX
alkej-160	199	41	assigned	assign	VERB
alkej-160	199	42	to	to	PART
alkej-160	199	43	perform	perform	VERB
alkej-160	199	44	a	a	DET
alkej-160	199	45	simulation	simulation	NOUN
alkej-160	199	46	on	on	ADP
alkej-160	199	47	some	some	DET
alkej-160	199	48	path	path	NOUN
alkej-160	199	49	planning	planning	NOUN
alkej-160	199	50	problems	problem	NOUN
alkej-160	199	51	using	use	VERB
alkej-160	199	52	the	the	DET
alkej-160	199	53	proposed	propose	VERB
alkej-160	199	54	algorithm	algorithm	NOUN
alkej-160	199	55	.	.	PUNCT
alkej-160	200	1	two	two	NUM
alkej-160	200	2	examples	example	NOUN
alkej-160	200	3	with	with	ADP
alkej-160	200	4	two	two	NUM
alkej-160	200	5	different	different	ADJ
alkej-160	200	6	environments	environment	NOUN
alkej-160	200	7	are	be	AUX
alkej-160	200	8	studied	study	VERB
alkej-160	200	9	.	.	PUNCT
alkej-160	201	1	in	in	ADP
alkej-160	201	2	addition	addition	NOUN
alkej-160	201	3	,	,	PUNCT
alkej-160	201	4	a	a	DET
alkej-160	201	5	comparison	comparison	NOUN
alkej-160	201	6	study	study	NOUN
alkej-160	201	7	is	be	AUX
alkej-160	201	8	done	do	VERB
alkej-160	201	9	between	between	ADP
alkej-160	201	10	the	the	DET
alkej-160	201	11	proposed	propose	VERB
alkej-160	201	12	algorithm	algorithm	NOUN
alkej-160	201	13	and	and	CCONJ
alkej-160	201	14	the	the	DET
alkej-160	201	15	algorithm	algorithm	NOUN
alkej-160	201	16	that	that	PRON
alkej-160	201	17	is	be	AUX
alkej-160	201	18	proposed	propose	VERB
alkej-160	201	19	in	in	ADP
alkej-160	201	20	[	[	X
alkej-160	201	21	2	2	NUM
alkej-160	201	22	]	]	PUNCT
alkej-160	201	23	.	.	PUNCT
alkej-160	202	1	this	this	DET
alkej-160	202	2	simulation	simulation	NOUN
alkej-160	202	3	is	be	AUX
alkej-160	202	4	performing	perform	VERB
alkej-160	202	5	via	via	ADP
alkej-160	202	6	a	a	DET
alkej-160	202	7	vc++	vc++	NOUN
alkej-160	202	8	using	use	VERB
alkej-160	202	9	direct2	direct2	NOUN
alkej-160	202	10	library	library	NOUN
alkej-160	202	11	.	.	PUNCT
alkej-160	203	1	environment	environment	NOUN
alkej-160	203	2	1	1	NUM
alkej-160	203	3	:	:	PUNCT
alkej-160	203	4	this	this	DET
alkej-160	203	5	environment	environment	NOUN
alkej-160	203	6	has	have	VERB
alkej-160	203	7	length	length	NOUN
alkej-160	203	8	of	of	ADP
alkej-160	203	9	6.3	6.3	NUM
alkej-160	203	10	m	m	NOUN
alkej-160	203	11	and	and	CCONJ
alkej-160	203	12	width	width	NOUN
alkej-160	203	13	of	of	ADP
alkej-160	203	14	5.6	5.6	NUM
alkej-160	203	15	m.	m.	NOUN
alkej-160	203	16	the	the	DET
alkej-160	203	17	results	result	NOUN
alkej-160	203	18	of	of	ADP
alkej-160	203	19	the	the	DET
alkej-160	203	20	two	two	NUM
alkej-160	203	21	examples	example	NOUN
alkej-160	203	22	are	be	AUX
alkej-160	203	23	shown	show	VERB
alkej-160	203	24	in	in	ADP
alkej-160	203	25	figures	figure	NOUN
alkej-160	203	26	(	(	PUNCT
alkej-160	203	27	12	12	NUM
alkej-160	203	28	,	,	PUNCT
alkej-160	203	29	13	13	NUM
alkej-160	203	30	)	)	PUNCT
alkej-160	203	31	.	.	PUNCT
alkej-160	204	1	fig	fig	NOUN
alkej-160	204	2	.	.	PUNCT
alkej-160	205	1	12	12	NUM
alkej-160	205	2	.	.	PUNCT
alkej-160	206	1	simulation	simulation	NOUN
alkej-160	206	2	result	result	NOUN
alkej-160	206	3	of	of	ADP
alkej-160	206	4	environment	environment	NOUN
alkej-160	206	5	1	1	NUM
alkej-160	206	6	,	,	PUNCT
alkej-160	206	7	example	example	NOUN
alkej-160	206	8	1	1	NUM
alkej-160	206	9	,	,	PUNCT
alkej-160	206	10	start	start	VERB
alkej-160	206	11	point	point	NOUN
alkej-160	206	12	is	be	AUX
alkej-160	206	13	(	(	PUNCT
alkej-160	206	14	0.245	0.245	NUM
alkej-160	206	15	m	m	NOUN
alkej-160	206	16	,	,	PUNCT
alkej-160	206	17	0.245	0.245	NUM
alkej-160	206	18	m	m	NOUN
alkej-160	206	19	)	)	PUNCT
alkej-160	206	20	and	and	CCONJ
alkej-160	206	21	goal	goal	NOUN
alkej-160	206	22	point	point	NOUN
alkej-160	206	23	is	be	AUX
alkej-160	206	24	(	(	PUNCT
alkej-160	206	25	6	6	NUM
alkej-160	206	26	m	m	NOUN
alkej-160	206	27	,	,	PUNCT
alkej-160	206	28	5	5	NUM
alkej-160	206	29	m	m	NOUN
alkej-160	206	30	)	)	PUNCT
alkej-160	206	31	.	.	PUNCT
alkej-160	207	1	environment	environment	NOUN
alkej-160	207	2	2	2	NUM
alkej-160	207	3	:	:	PUNCT
alkej-160	207	4	this	this	DET
alkej-160	207	5	environment	environment	NOUN
alkej-160	207	6	is	be	AUX
alkej-160	207	7	generated	generate	VERB
alkej-160	207	8	randomly	randomly	ADV
alkej-160	207	9	by	by	ADP
alkej-160	207	10	random	random	ADJ
alkej-160	207	11	environment	environment	NOUN
alkej-160	207	12	generator	generator	NOUN
alkej-160	207	13	algorithm	algorithm	NOUN
alkej-160	207	14	.	.	PUNCT
alkej-160	208	1	the	the	DET
alkej-160	208	2	obstacles	obstacle	NOUN
alkej-160	208	3	are	be	AUX
alkej-160	208	4	represented	represent	VERB
alkej-160	208	5	by	by	ADP
alkej-160	208	6	circles	circle	NOUN
alkej-160	208	7	.	.	PUNCT
alkej-160	209	1	there	there	PRON
alkej-160	209	2	are	be	VERB
alkej-160	209	3	80	80	NUM
alkej-160	209	4	obstacles	obstacle	NOUN
alkej-160	209	5	with	with	ADP
alkej-160	209	6	radiuses	radius	NOUN
alkej-160	209	7	in	in	ADP
alkej-160	209	8	range	range	NOUN
alkej-160	209	9	of	of	ADP
alkej-160	209	10	0.12	0.12	NUM
alkej-160	209	11	m	m	NOUN
alkej-160	209	12	to	to	ADP
alkej-160	209	13	0.9	0.9	NUM
alkej-160	209	14	m.	m.	NOUN
alkej-160	209	15	the	the	DET
alkej-160	209	16	environment	environment	NOUN
alkej-160	209	17	has	have	VERB
alkej-160	209	18	length	length	NOUN
alkej-160	209	19	of	of	ADP
alkej-160	209	20	17.15	17.15	NUM
alkej-160	209	21	m	m	NOUN
alkej-160	209	22	and	and	CCONJ
alkej-160	209	23	width	width	NOUN
alkej-160	209	24	of	of	ADP
alkej-160	209	25	14.7	14.7	NUM
alkej-160	209	26	m.	m.	NOUN
alkej-160	209	27	the	the	DET
alkej-160	209	28	results	result	NOUN
alkej-160	209	29	of	of	ADP
alkej-160	209	30	the	the	DET
alkej-160	209	31	two	two	NUM
alkej-160	209	32	examples	example	NOUN
alkej-160	209	33	are	be	AUX
alkej-160	209	34	shown	show	VERB
alkej-160	209	35	in	in	ADP
alkej-160	209	36	figures	figure	NOUN
alkej-160	209	37	(	(	PUNCT
alkej-160	209	38	14	14	NUM
alkej-160	209	39	,	,	PUNCT
alkej-160	209	40	15	15	NUM
alkej-160	209	41	)	)	PUNCT
alkej-160	209	42	.	.	PUNCT
alkej-160	210	1	start	start	VERB
alkej-160	210	2	target	target	NOUN
alkej-160	210	3	fig	fig	NOUN
alkej-160	210	4	.	.	PUNCT
alkej-160	211	1	11.the	11.the	PROPN
alkej-160	211	2	flowchart	flowchart	NOUN
alkej-160	211	3	of	of	ADP
alkej-160	211	4	proposed	propose	VERB
alkej-160	211	5	algorithm	algorithm	NOUN
alkej-160	211	6	.	.	PUNCT
alkej-160	212	1	no	no	INTJ
alkej-160	212	2	yes	yes	INTJ
alkej-160	213	1	no	no	INTJ
alkej-160	214	1	yes	yes	INTJ
alkej-160	214	2	no	no	INTJ
alkej-160	214	3	save	save	VERB
alkej-160	214	4	the	the	DET
alkej-160	214	5	points	point	NOUN
alkej-160	214	6	calculate	calculate	PROPN
alkej-160	214	7	rep	rep	PROPN
alkej-160	214	8	.	.	PROPN
alkej-160	214	9	force	force	PROPN
alkej-160	214	10	no	no	DET
alkej-160	214	11	end	end	NOUN
alkej-160	214	12	goal	goal	NOUN
alkej-160	214	13	reached	reach	VERB
alkej-160	214	14	calculate	calculate	NOUN
alkej-160	214	15	rep	rep	PROPN
alkej-160	214	16	force	force	NOUN
alkej-160	214	17	yes	yes	INTJ
alkej-160	214	18	calculate	calculate	VERB
alkej-160	214	19	att	att	PROPN
alkej-160	214	20	.	.	PUNCT
alkej-160	215	1	force	force	VERB
alkej-160	215	2	no	no	DET
alkej-160	215	3	collision	collision	NOUN
alkej-160	215	4	detection	detection	NOUN
alkej-160	215	5	calculate	calculate	VERB
alkej-160	215	6	attractive	attractive	ADJ
alkej-160	215	7	force	force	NOUN
alkej-160	215	8	no	no	INTJ
alkej-160	215	9	yes	yes	INTJ
alkej-160	215	10	near	near	ADP
alkej-160	215	11	target	target	NOUN
alkej-160	215	12	start	start	VERB
alkej-160	215	13	direct	direct	ADJ
alkej-160	215	14	movement	movement	NOUN
alkej-160	215	15	to	to	PART
alkej-160	215	16	target	target	VERB
alkej-160	215	17	(	(	PUNCT
alkej-160	215	18	dm	dm	NOUN
alkej-160	215	19	)	)	PUNCT
alkej-160	215	20	yes	yes	INTJ
alkej-160	215	21	read	read	VERB
alkej-160	215	22	sensors	sensor	NOUN
alkej-160	215	23	find	find	VERB
alkej-160	215	24	nearest	near	ADJ
alkej-160	215	25	sensors	sensor	NOUN
alkej-160	215	26	group	group	NOUN
alkej-160	215	27	to	to	ADP
alkej-160	215	28	the	the	DET
alkej-160	215	29	target	target	NOUN
alkej-160	215	30	off	off	ADP
alkej-160	215	31	-	-	PUNCT
alkej-160	215	32	sensor	sensor	NOUN
alkej-160	215	33	att	att	PROPN
alkej-160	215	34	.	.	PUNCT
alkej-160	216	1	force	force	PROPN
alkej-160	216	2	step	step	NOUN
alkej-160	216	3	size	size	NOUN
alkej-160	216	4	calculation	calculation	NOUN
alkej-160	216	5	read	read	VERB
alkej-160	216	6	sensors	sensor	NOUN
alkej-160	216	7	midpoint	midpoint	PROPN
alkej-160	216	8	rep	rep	PROPN
alkej-160	216	9	.	.	PROPN
alkej-160	216	10	force	force	PROPN
alkej-160	217	1	yes	yes	INTJ
alkej-160	217	2	no	no	INTJ
alkej-160	217	3	.	.	PUNCT
alkej-160	218	1	of	of	ADP
alkej-160	218	2	saved	save	VERB
alkej-160	218	3	points	point	NOUN
alkej-160	218	4	>	>	SYM
alkej-160	218	5	0	0	NUM
alkej-160	218	6	midpoint	midpoint	NOUN
alkej-160	218	7	rep	rep	PROPN
alkej-160	218	8	force	force	PROPN
alkej-160	218	9	direct	direct	ADJ
alkej-160	218	10	movement	movement	NOUN
alkej-160	218	11	to	to	PART
alkej-160	218	12	target	target	VERB
alkej-160	218	13	(	(	PUNCT
alkej-160	218	14	dm	dm	NOUN
alkej-160	218	15	)	)	PUNCT
alkej-160	218	16	mohamed	mohamed	PROPN
alkej-160	218	17	jasim	jasim	PROPN
alkej-160	218	18	mohamed	mohamed	PROPN
alkej-160	218	19	al	al	PROPN
alkej-160	218	20	-	-	PUNCT
alkej-160	218	21	khwarizmi	khwarizmi	PROPN
alkej-160	218	22	engineering	engineering	NOUN
alkej-160	218	23	journal	journal	PROPN
alkej-160	218	24	,	,	PUNCT
alkej-160	218	25	vol	vol	NOUN
alkej-160	218	26	.	.	NOUN
alkej-160	218	27	9	9	NUM
alkej-160	218	28	,	,	PUNCT
alkej-160	218	29	no.1	no.1	NUM
alkej-160	218	30	,	,	PUNCT
alkej-160	218	31	p.p.71	p.p.71	NOUN
alkej-160	218	32	-	-	PUNCT
alkej-160	218	33	82	82	NUM
alkej-160	218	34	(	(	PUNCT
alkej-160	218	35	2013	2013	NUM
alkej-160	218	36	)	)	PUNCT
alkej-160	218	37	79	79	NUM
alkej-160	218	38	fig	fig	NOUN
alkej-160	218	39	.	.	PUNCT
alkej-160	219	1	13	13	NUM
alkej-160	219	2	.	.	PUNCT
alkej-160	219	3	simulation	simulation	NOUN
alkej-160	219	4	result	result	NOUN
alkej-160	219	5	of	of	ADP
alkej-160	219	6	environment	environment	NOUN
alkej-160	219	7	1	1	NUM
alkej-160	219	8	,	,	PUNCT
alkej-160	219	9	example	example	NOUN
alkej-160	219	10	2	2	NUM
alkej-160	219	11	,	,	PUNCT
alkej-160	219	12	start	start	VERB
alkej-160	219	13	point	point	NOUN
alkej-160	219	14	is	be	AUX
alkej-160	219	15	(	(	PUNCT
alkej-160	219	16	6.07	6.07	NUM
alkej-160	219	17	m	m	NOUN
alkej-160	219	18	,	,	PUNCT
alkej-160	219	19	1.88	1.88	NUM
alkej-160	219	20	m	m	NOUN
alkej-160	219	21	)	)	PUNCT
alkej-160	219	22	and	and	CCONJ
alkej-160	219	23	goal	goal	NOUN
alkej-160	219	24	point	point	NOUN
alkej-160	219	25	is	be	AUX
alkej-160	219	26	(	(	PUNCT
alkej-160	219	27	3.6	3.6	NUM
alkej-160	219	28	m	m	NOUN
alkej-160	219	29	,	,	PUNCT
alkej-160	219	30	3.1	3.1	NUM
alkej-160	219	31	m	m	NOUN
alkej-160	219	32	)	)	PUNCT
alkej-160	219	33	.	.	PUNCT
alkej-160	220	1	fig	fig	NOUN
alkej-160	220	2	.	.	PUNCT
alkej-160	221	1	14	14	NUM
alkej-160	221	2	.	.	PUNCT
alkej-160	222	1	simulation	simulation	NOUN
alkej-160	222	2	result	result	NOUN
alkej-160	222	3	of	of	ADP
alkej-160	222	4	environment	environment	NOUN
alkej-160	222	5	2	2	NUM
alkej-160	222	6	,	,	PUNCT
alkej-160	222	7	example	example	NOUN
alkej-160	222	8	1	1	NUM
alkej-160	222	9	,	,	PUNCT
alkej-160	222	10	start	start	VERB
alkej-160	222	11	point	point	NOUN
alkej-160	222	12	is	be	AUX
alkej-160	222	13	(	(	PUNCT
alkej-160	222	14	6	6	NUM
alkej-160	222	15	m	m	NOUN
alkej-160	222	16	,	,	PUNCT
alkej-160	222	17	7.3	7.3	NUM
alkej-160	222	18	m	m	NOUN
alkej-160	222	19	)	)	PUNCT
alkej-160	222	20	and	and	CCONJ
alkej-160	222	21	goal	goal	NOUN
alkej-160	222	22	point	point	NOUN
alkej-160	222	23	is	be	AUX
alkej-160	222	24	(	(	PUNCT
alkej-160	222	25	12.7	12.7	NUM
alkej-160	222	26	m	m	NOUN
alkej-160	222	27	,	,	PUNCT
alkej-160	222	28	9.75	9.75	NUM
alkej-160	222	29	m	m	NOUN
alkej-160	222	30	)	)	PUNCT
alkej-160	222	31	.	.	PUNCT
alkej-160	223	1	comparison	comparison	NOUN
alkej-160	223	2	study	study	NOUN
alkej-160	223	3	:	:	PUNCT
alkej-160	223	4	this	this	DET
alkej-160	223	5	comparison	comparison	NOUN
alkej-160	223	6	is	be	AUX
alkej-160	223	7	done	do	VERB
alkej-160	223	8	between	between	ADP
alkej-160	223	9	the	the	DET
alkej-160	223	10	proposed	propose	VERB
alkej-160	223	11	algorithm	algorithm	NOUN
alkej-160	223	12	in	in	ADP
alkej-160	223	13	[	[	X
alkej-160	223	14	2	2	NUM
alkej-160	223	15	]	]	PUNCT
alkej-160	223	16	and	and	CCONJ
alkej-160	223	17	our	our	PRON
alkej-160	223	18	proposed	propose	VERB
alkej-160	223	19	algorithm	algorithm	NOUN
alkej-160	223	20	.	.	PUNCT
alkej-160	224	1	the	the	DET
alkej-160	224	2	proposed	propose	VERB
alkej-160	224	3	algorithm	algorithm	NOUN
alkej-160	224	4	in	in	ADP
alkej-160	224	5	[	[	X
alkej-160	224	6	2	2	NUM
alkej-160	224	7	]	]	PUNCT
alkej-160	224	8	uses	use	VERB
alkej-160	224	9	q	q	ADJ
alkej-160	224	10	-	-	PUNCT
alkej-160	224	11	learning	learn	VERB
alkej-160	224	12	algorithm	algorithm	NOUN
alkej-160	224	13	and	and	CCONJ
alkej-160	224	14	fuzzy	fuzzy	ADJ
alkej-160	224	15	logic	logic	NOUN
alkej-160	224	16	to	to	PART
alkej-160	224	17	find	find	VERB
alkej-160	224	18	the	the	DET
alkej-160	224	19	path	path	NOUN
alkej-160	224	20	to	to	ADP
alkej-160	224	21	the	the	DET
alkej-160	224	22	target	target	NOUN
alkej-160	224	23	based	base	VERB
alkej-160	224	24	on	on	ADP
alkej-160	224	25	the	the	DET
alkej-160	224	26	reading	reading	NOUN
alkej-160	224	27	of	of	ADP
alkej-160	224	28	thirteen	thirteen	NUM
alkej-160	224	29	sensors	sensor	NOUN
alkej-160	224	30	.	.	PUNCT
alkej-160	225	1	fig	fig	NOUN
alkej-160	225	2	.	.	PUNCT
alkej-160	226	1	15	15	NUM
alkej-160	226	2	.	.	PUNCT
alkej-160	226	3	simulation	simulation	NOUN
alkej-160	226	4	result	result	NOUN
alkej-160	226	5	of	of	ADP
alkej-160	226	6	environment	environment	NOUN
alkej-160	226	7	2	2	NUM
alkej-160	226	8	,	,	PUNCT
alkej-160	226	9	example	example	NOUN
alkej-160	226	10	2	2	NUM
alkej-160	226	11	,	,	PUNCT
alkej-160	226	12	start	start	VERB
alkej-160	226	13	point	point	NOUN
alkej-160	226	14	is	be	AUX
alkej-160	226	15	(	(	PUNCT
alkej-160	226	16	10.7	10.7	NUM
alkej-160	226	17	m	m	NOUN
alkej-160	226	18	,	,	PUNCT
alkej-160	226	19	2.3	2.3	NUM
alkej-160	226	20	m	m	NOUN
alkej-160	226	21	)	)	PUNCT
alkej-160	226	22	and	and	CCONJ
alkej-160	226	23	goal	goal	NOUN
alkej-160	226	24	point	point	NOUN
alkej-160	226	25	is	be	AUX
alkej-160	226	26	(	(	PUNCT
alkej-160	226	27	0.9	0.9	NUM
alkej-160	226	28	m	m	NOUN
alkej-160	226	29	,	,	PUNCT
alkej-160	226	30	4.2	4.2	NUM
alkej-160	226	31	m	m	NOUN
alkej-160	226	32	)	)	PUNCT
alkej-160	226	33	.	.	PUNCT
alkej-160	227	1	two	two	NUM
alkej-160	227	2	examples	example	NOUN
alkej-160	227	3	are	be	AUX
alkej-160	227	4	taken	take	VERB
alkej-160	227	5	for	for	ADP
alkej-160	227	6	comparison	comparison	NOUN
alkej-160	227	7	.	.	PUNCT
alkej-160	228	1	the	the	DET
alkej-160	228	2	results	result	NOUN
alkej-160	228	3	of	of	ADP
alkej-160	228	4	the	the	DET
alkej-160	228	5	q	q	NOUN
alkej-160	228	6	-	-	PUNCT
alkej-160	228	7	learning	learn	VERB
alkej-160	228	8	algorithm	algorithm	NOUN
alkej-160	228	9	are	be	AUX
alkej-160	228	10	shown	show	VERB
alkej-160	228	11	in	in	ADP
alkej-160	228	12	figure	figure	NOUN
alkej-160	228	13	(	(	PUNCT
alkej-160	228	14	16	16	NUM
alkej-160	228	15	)	)	PUNCT
alkej-160	228	16	and	and	CCONJ
alkej-160	228	17	figure	figure	NOUN
alkej-160	228	18	(	(	PUNCT
alkej-160	228	19	17	17	NUM
alkej-160	228	20	)	)	PUNCT
alkej-160	228	21	.	.	PUNCT
alkej-160	229	1	the	the	DET
alkej-160	229	2	two	two	NUM
alkej-160	229	3	examples	example	NOUN
alkej-160	229	4	are	be	AUX
alkej-160	229	5	re	re	VERB
alkej-160	229	6	-	-	VERB
alkej-160	229	7	simulated	simulated	ADJ
alkej-160	229	8	using	use	VERB
alkej-160	229	9	our	our	PRON
alkej-160	229	10	proposed	propose	VERB
alkej-160	229	11	algorithm	algorithm	NOUN
alkej-160	229	12	and	and	CCONJ
alkej-160	229	13	the	the	DET
alkej-160	229	14	results	result	NOUN
alkej-160	229	15	are	be	AUX
alkej-160	229	16	shown	show	VERB
alkej-160	229	17	in	in	ADP
alkej-160	229	18	figure	figure	NOUN
alkej-160	229	19	(	(	PUNCT
alkej-160	229	20	18	18	NUM
alkej-160	229	21	)	)	PUNCT
alkej-160	229	22	and	and	CCONJ
alkej-160	229	23	figure	figure	NOUN
alkej-160	229	24	(	(	PUNCT
alkej-160	229	25	19	19	NUM
alkej-160	229	26	)	)	PUNCT
alkej-160	229	27	.	.	PUNCT
alkej-160	230	1	the	the	DET
alkej-160	230	2	comparison	comparison	NOUN
alkej-160	230	3	study	study	NOUN
alkej-160	230	4	shows	show	VERB
alkej-160	230	5	that	that	SCONJ
alkej-160	230	6	our	our	PRON
alkej-160	230	7	proposed	propose	VERB
alkej-160	230	8	algorithm	algorithm	NOUN
alkej-160	230	9	develops	develop	VERB
alkej-160	230	10	paths	path	NOUN
alkej-160	230	11	which	which	PRON
alkej-160	230	12	are	be	AUX
alkej-160	230	13	the	the	DET
alkej-160	230	14	same	same	ADJ
alkej-160	230	15	or	or	CCONJ
alkej-160	230	16	better	well	ADJ
alkej-160	230	17	than	than	ADP
alkej-160	230	18	the	the	DET
alkej-160	230	19	paths	path	NOUN
alkej-160	230	20	of	of	ADP
alkej-160	230	21	the	the	DET
alkej-160	230	22	q	q	NOUN
alkej-160	230	23	-	-	PUNCT
alkej-160	230	24	learning	learn	VERB
alkej-160	230	25	algorithm	algorithm	NOUN
alkej-160	230	26	.	.	PUNCT
alkej-160	231	1	in	in	ADP
alkej-160	231	2	addition	addition	NOUN
alkej-160	231	3	,	,	PUNCT
alkej-160	231	4	our	our	PRON
alkej-160	231	5	algorithm	algorithm	NOUN
alkej-160	231	6	does	do	AUX
alkej-160	231	7	not	not	PART
alkej-160	231	8	need	need	VERB
alkej-160	231	9	to	to	PART
alkej-160	231	10	use	use	VERB
alkej-160	231	11	any	any	DET
alkej-160	231	12	artificial	artificial	ADJ
alkej-160	231	13	intelligent	intelligent	ADJ
alkej-160	231	14	system	system	NOUN
alkej-160	231	15	like	like	ADP
alkej-160	231	16	fuzzy	fuzzy	ADJ
alkej-160	231	17	or	or	CCONJ
alkej-160	231	18	neural	neural	ADJ
alkej-160	231	19	network	network	NOUN
alkej-160	231	20	.	.	PUNCT
alkej-160	232	1	fig	fig	NOUN
alkej-160	232	2	.	.	PUNCT
alkej-160	233	1	16	16	NUM
alkej-160	233	2	.	.	PUNCT
alkej-160	234	1	the	the	DET
alkej-160	234	2	q	q	ADJ
alkej-160	234	3	-	-	PUNCT
alkej-160	234	4	learning	learn	VERB
alkej-160	234	5	algorithm	algorithm	NOUN
alkej-160	234	6	results	result	NOUN
alkej-160	234	7	,	,	PUNCT
alkej-160	234	8	example	example	NOUN
alkej-160	234	9	1	1	NUM
alkej-160	234	10	,	,	PUNCT
alkej-160	234	11	[	[	X
alkej-160	234	12	2	2	NUM
alkej-160	234	13	]	]	PUNCT
alkej-160	234	14	.	.	PUNCT
alkej-160	235	1	start	start	VERB
alkej-160	235	2	target	target	NOUN
alkej-160	235	3	start	start	NOUN
alkej-160	235	4	targe	targe	NOUN
alkej-160	235	5	start	start	NOUN
alkej-160	235	6	target	target	NOUN
alkej-160	235	7	target	target	NOUN
alkej-160	235	8	start	start	NOUN
alkej-160	235	9	mohamed	mohamed	PROPN
alkej-160	235	10	jasim	jasim	PROPN
alkej-160	235	11	mohamed	mohamed	PROPN
alkej-160	235	12	al	al	PROPN
alkej-160	235	13	-	-	PUNCT
alkej-160	235	14	khwarizmi	khwarizmi	PROPN
alkej-160	235	15	engineering	engineering	NOUN
alkej-160	235	16	journal	journal	PROPN
alkej-160	235	17	,	,	PUNCT
alkej-160	235	18	vol	vol	NOUN
alkej-160	235	19	.	.	NOUN
alkej-160	235	20	9	9	NUM
alkej-160	235	21	,	,	PUNCT
alkej-160	235	22	no.1	no.1	NUM
alkej-160	235	23	,	,	PUNCT
alkej-160	235	24	p.p.71	p.p.71	NOUN
alkej-160	235	25	-	-	PUNCT
alkej-160	235	26	82	82	NUM
alkej-160	235	27	(	(	PUNCT
alkej-160	235	28	2013	2013	NUM
alkej-160	235	29	)	)	PUNCT
alkej-160	235	30	80	80	NUM
alkej-160	235	31	fig.17	fig.17	NOUN
alkej-160	235	32	.	.	PUNCT
alkej-160	236	1	the	the	DET
alkej-160	236	2	q	q	ADJ
alkej-160	236	3	-	-	PUNCT
alkej-160	236	4	learning	learn	VERB
alkej-160	236	5	algorithm	algorithm	NOUN
alkej-160	236	6	results	result	NOUN
alkej-160	236	7	,	,	PUNCT
alkej-160	236	8	example	example	NOUN
alkej-160	236	9	2	2	NUM
alkej-160	236	10	,	,	PUNCT
alkej-160	236	11	[	[	X
alkej-160	236	12	2	2	NUM
alkej-160	236	13	]	]	PUNCT
alkej-160	236	14	.	.	PUNCT
alkej-160	237	1	fig	fig	NOUN
alkej-160	237	2	.	.	PUNCT
alkej-160	238	1	18	18	NUM
alkej-160	238	2	.	.	PUNCT
alkej-160	239	1	the	the	DET
alkej-160	239	2	re	re	NOUN
alkej-160	239	3	-	-	NOUN
alkej-160	239	4	simulation	simulation	NOUN
alkej-160	239	5	of	of	ADP
alkej-160	239	6	q	q	NOUN
alkej-160	239	7	-	-	PUNCT
alkej-160	239	8	learning	learn	VERB
alkej-160	239	9	algorithm	algorithm	NOUN
alkej-160	239	10	example	example	NOUN
alkej-160	239	11	2	2	NUM
alkej-160	239	12	by	by	ADP
alkej-160	239	13	the	the	DET
alkej-160	239	14	proposed	propose	VERB
alkej-160	239	15	algorithm	algorithm	NOUN
alkej-160	239	16	.	.	PUNCT
alkej-160	240	1	fig	fig	NOUN
alkej-160	240	2	.	.	PUNCT
alkej-160	241	1	19	19	NUM
alkej-160	241	2	.	.	PUNCT
alkej-160	242	1	the	the	DET
alkej-160	242	2	re	re	NOUN
alkej-160	242	3	-	-	NOUN
alkej-160	242	4	simulation	simulation	NOUN
alkej-160	242	5	of	of	ADP
alkej-160	242	6	q	q	NOUN
alkej-160	242	7	-	-	PUNCT
alkej-160	242	8	learning	learn	VERB
alkej-160	242	9	algorithm	algorithm	NOUN
alkej-160	242	10	example	example	NOUN
alkej-160	242	11	3	3	NUM
alkej-160	242	12	by	by	ADP
alkej-160	242	13	the	the	DET
alkej-160	242	14	proposed	propose	VERB
alkej-160	242	15	algorithm	algorithm	NOUN
alkej-160	242	16	.	.	PUNCT
alkej-160	243	1	7	7	X
alkej-160	243	2	.	.	X
alkej-160	243	3	conclusion	conclusion	NOUN
alkej-160	243	4	in	in	ADP
alkej-160	243	5	this	this	DET
alkej-160	243	6	paper	paper	NOUN
alkej-160	243	7	,	,	PUNCT
alkej-160	243	8	we	we	PRON
alkej-160	243	9	proposed	propose	VERB
alkej-160	243	10	an	an	DET
alkej-160	243	11	algorithm	algorithm	NOUN
alkej-160	243	12	to	to	PART
alkej-160	243	13	solve	solve	VERB
alkej-160	243	14	the	the	DET
alkej-160	243	15	problem	problem	NOUN
alkej-160	243	16	of	of	ADP
alkej-160	243	17	finding	find	VERB
alkej-160	243	18	a	a	DET
alkej-160	243	19	path	path	NOUN
alkej-160	243	20	between	between	ADP
alkej-160	243	21	two	two	NUM
alkej-160	243	22	specific	specific	ADJ
alkej-160	243	23	points	point	NOUN
alkej-160	243	24	in	in	ADP
alkej-160	243	25	the	the	DET
alkej-160	243	26	totally	totally	ADV
alkej-160	243	27	or	or	CCONJ
alkej-160	243	28	partially	partially	ADV
alkej-160	243	29	unknown	unknown	ADJ
alkej-160	243	30	environment	environment	NOUN
alkej-160	243	31	.	.	PUNCT
alkej-160	244	1	the	the	DET
alkej-160	244	2	required	require	VERB
alkej-160	244	3	data	datum	NOUN
alkej-160	244	4	for	for	ADP
alkej-160	244	5	the	the	DET
alkej-160	244	6	algorithm	algorithm	NOUN
alkej-160	244	7	are	be	AUX
alkej-160	244	8	;	;	PUNCT
alkej-160	244	9	the	the	DET
alkej-160	244	10	start	start	NOUN
alkej-160	244	11	point	point	NOUN
alkej-160	244	12	,	,	PUNCT
alkej-160	244	13	the	the	DET
alkej-160	244	14	target	target	NOUN
alkej-160	244	15	point	point	NOUN
alkej-160	244	16	,	,	PUNCT
alkej-160	244	17	and	and	CCONJ
alkej-160	244	18	the	the	DET
alkej-160	244	19	readings	reading	NOUN
alkej-160	244	20	of	of	ADP
alkej-160	244	21	five	five	NUM
alkej-160	244	22	infrared	infrared	ADJ
alkej-160	244	23	distance	distance	NOUN
alkej-160	244	24	meters	meter	NOUN
alkej-160	244	25	which	which	PRON
alkej-160	244	26	are	be	AUX
alkej-160	244	27	fixed	fix	VERB
alkej-160	244	28	in	in	ADP
alkej-160	244	29	the	the	DET
alkej-160	244	30	front	front	NOUN
alkej-160	244	31	of	of	ADP
alkej-160	244	32	the	the	DET
alkej-160	244	33	robot	robot	NOUN
alkej-160	244	34	within	within	ADP
alkej-160	244	35	angles	angle	NOUN
alkej-160	244	36	equal	equal	ADJ
alkej-160	244	37	to	to	ADP
alkej-160	244	38	(	(	PUNCT
alkej-160	244	39	−	−	PROPN
alkej-160	244	40	,	,	PUNCT
alkej-160	244	41	−	−	PROPN
alkej-160	244	42	,	,	PUNCT
alkej-160	244	43	0	0	NUM
alkej-160	244	44	,	,	PUNCT
alkej-160	244	45	,	,	PUNCT
alkej-160	244	46	)	)	PUNCT
alkej-160	244	47	.	.	PUNCT
alkej-160	245	1	the	the	DET
alkej-160	245	2	main	main	ADJ
alkej-160	245	3	points	point	NOUN
alkej-160	245	4	that	that	PRON
alkej-160	245	5	are	be	AUX
alkej-160	245	6	important	important	ADJ
alkej-160	245	7	to	to	PART
alkej-160	245	8	refer	refer	VERB
alkej-160	245	9	to	to	ADP
alkej-160	245	10	for	for	ADP
alkej-160	245	11	the	the	DET
alkej-160	245	12	proposed	propose	VERB
alkej-160	245	13	algorithm	algorithm	NOUN
alkej-160	245	14	are	be	AUX
alkej-160	245	15	:	:	PUNCT
alkej-160	245	16	•	•	ADV
alkej-160	245	17	since	since	ADV
alkej-160	245	18	,	,	PUNCT
alkej-160	245	19	the	the	DET
alkej-160	245	20	classical	classical	ADJ
alkej-160	245	21	artificial	artificial	ADJ
alkej-160	245	22	potential	potential	ADJ
alkej-160	245	23	field	field	NOUN
alkej-160	245	24	suffers	suffer	VERB
alkej-160	245	25	from	from	ADP
alkej-160	245	26	some	some	DET
alkej-160	245	27	drawbacks	drawback	NOUN
alkej-160	245	28	;	;	PUNCT
alkej-160	245	29	we	we	PRON
alkej-160	245	30	suggested	suggest	VERB
alkej-160	245	31	secondary	secondary	ADJ
alkej-160	245	32	forces	force	NOUN
alkej-160	245	33	,	,	PUNCT
alkej-160	245	34	the	the	DET
alkej-160	245	35	off	off	ADJ
alkej-160	245	36	-	-	PUNCT
alkej-160	245	37	sensors	sensor	NOUN
alkej-160	245	38	attractive	attractive	ADJ
alkej-160	245	39	force	force	NOUN
alkej-160	245	40	and	and	CCONJ
alkej-160	245	41	midpoint	midpoint	VERB
alkej-160	245	42	repulsive	repulsive	ADJ
alkej-160	245	43	force	force	NOUN
alkej-160	245	44	.	.	PUNCT
alkej-160	246	1	these	these	DET
alkej-160	246	2	suggested	suggest	VERB
alkej-160	246	3	forces	force	NOUN
alkej-160	246	4	are	be	AUX
alkej-160	246	5	merged	merge	VERB
alkej-160	246	6	with	with	ADP
alkej-160	246	7	forces	force	NOUN
alkej-160	246	8	of	of	ADP
alkej-160	246	9	classical	classical	ADJ
alkej-160	246	10	artificial	artificial	ADJ
alkej-160	246	11	potential	potential	ADJ
alkej-160	246	12	field	field	NOUN
alkej-160	246	13	.	.	PUNCT
alkej-160	247	1	these	these	DET
alkej-160	247	2	additional	additional	ADJ
alkej-160	247	3	forces	force	NOUN
alkej-160	247	4	are	be	AUX
alkej-160	247	5	submitted	submit	VERB
alkej-160	247	6	to	to	ADP
alkej-160	247	7	a	a	DET
alkej-160	247	8	certain	certain	ADJ
alkej-160	247	9	rules	rule	NOUN
alkej-160	247	10	and	and	CCONJ
alkej-160	247	11	conditions	condition	NOUN
alkej-160	247	12	,	,	PUNCT
alkej-160	247	13	to	to	PART
alkej-160	247	14	ensure	ensure	VERB
alkej-160	247	15	a	a	DET
alkej-160	247	16	smooth	smooth	ADJ
alkej-160	247	17	and	and	CCONJ
alkej-160	247	18	safe	safe	ADJ
alkej-160	247	19	path	path	NOUN
alkej-160	247	20	to	to	ADP
alkej-160	247	21	the	the	DET
alkej-160	247	22	target	target	NOUN
alkej-160	247	23	.	.	PUNCT
alkej-160	248	1	•	•	NUM
alkej-160	248	2	in	in	ADP
alkej-160	248	3	addition	addition	NOUN
alkej-160	248	4	,	,	PUNCT
alkej-160	248	5	the	the	DET
alkej-160	248	6	proposed	propose	VERB
alkej-160	248	7	algorithm	algorithm	NOUN
alkej-160	248	8	follows	follow	VERB
alkej-160	248	9	simple	simple	ADJ
alkej-160	248	10	calculations	calculation	NOUN
alkej-160	248	11	and	and	CCONJ
alkej-160	248	12	conditions	condition	NOUN
alkej-160	248	13	without	without	ADP
alkej-160	248	14	any	any	DET
alkej-160	248	15	searching	searching	NOUN
alkej-160	248	16	or	or	CCONJ
alkej-160	248	17	optimization	optimization	NOUN
alkej-160	248	18	method	method	NOUN
alkej-160	248	19	.	.	PUNCT
alkej-160	249	1	thus	thus	ADV
alkej-160	249	2	,	,	PUNCT
alkej-160	249	3	it	it	PRON
alkej-160	249	4	is	be	AUX
alkej-160	249	5	possible	possible	ADJ
alkej-160	249	6	to	to	PART
alkej-160	249	7	apply	apply	VERB
alkej-160	249	8	this	this	DET
alkej-160	249	9	algorithm	algorithm	NOUN
alkej-160	249	10	on	on	ADP
alkej-160	249	11	micro	micro	ADJ
alkej-160	249	12	controllers	controller	NOUN
alkej-160	249	13	like	like	ADP
alkej-160	249	14	pic	pic	NOUN
alkej-160	249	15	or	or	CCONJ
alkej-160	249	16	avr	avr	PROPN
alkej-160	249	17	micro	micro	PROPN
alkej-160	249	18	controllers	controllers	PROPN
alkej-160	249	19	.	.	PUNCT
alkej-160	250	1	•	•	NUM
alkej-160	250	2	the	the	DET
alkej-160	250	3	simulation	simulation	NOUN
alkej-160	250	4	results	result	NOUN
alkej-160	250	5	show	show	VERB
alkej-160	250	6	that	that	SCONJ
alkej-160	250	7	the	the	DET
alkej-160	250	8	proposed	propose	VERB
alkej-160	250	9	algorithm	algorithm	NOUN
alkej-160	250	10	is	be	AUX
alkej-160	250	11	fast	fast	ADJ
alkej-160	250	12	and	and	CCONJ
alkej-160	250	13	efficient	efficient	ADJ
alkej-160	250	14	.	.	PUNCT
alkej-160	251	1	in	in	ADP
alkej-160	251	2	addition	addition	NOUN
alkej-160	251	3	,	,	PUNCT
alkej-160	251	4	it	it	PRON
alkej-160	251	5	overcomes	overcome	VERB
alkej-160	251	6	the	the	DET
alkej-160	251	7	drawbacks	drawback	NOUN
alkej-160	251	8	and	and	CCONJ
alkej-160	251	9	limitations	limitation	NOUN
alkej-160	251	10	of	of	ADP
alkej-160	251	11	target	target	NOUN
alkej-160	251	12	start	start	VERB
alkej-160	251	13	start	start	VERB
alkej-160	251	14	target	target	NOUN
alkej-160	251	15	start	start	NOUN
alkej-160	251	16	target	target	NOUN
alkej-160	251	17	mohamed	mohamed	PROPN
alkej-160	251	18	jasim	jasim	PROPN
alkej-160	251	19	mohamed	mohamed	PROPN
alkej-160	251	20	al	al	PROPN
alkej-160	251	21	-	-	PUNCT
alkej-160	251	22	khwarizmi	khwarizmi	PROPN
alkej-160	251	23	engineering	engineering	NOUN
alkej-160	251	24	journal	journal	PROPN
alkej-160	251	25	,	,	PUNCT
alkej-160	251	26	vol	vol	NOUN
alkej-160	251	27	.	.	NOUN
alkej-160	251	28	9	9	NUM
alkej-160	251	29	,	,	PUNCT
alkej-160	251	30	no.1	no.1	NUM
alkej-160	251	31	,	,	PUNCT
alkej-160	251	32	p.p.71	p.p.71	NOUN
alkej-160	251	33	-	-	PUNCT
alkej-160	251	34	82	82	NUM
alkej-160	251	35	(	(	PUNCT
alkej-160	251	36	2013	2013	NUM
alkej-160	251	37	)	)	PUNCT
alkej-160	251	38	81	81	NUM
alkej-160	251	39	traditional	traditional	ADJ
alkej-160	251	40	artificial	artificial	ADJ
alkej-160	251	41	potential	potential	ADJ
alkej-160	251	42	field	field	NOUN
alkej-160	251	43	.	.	PUNCT
alkej-160	252	1	the	the	DET
alkej-160	252	2	proposed	propose	VERB
alkej-160	252	3	algorithm	algorithm	NOUN
alkej-160	252	4	has	have	VERB
alkej-160	252	5	the	the	DET
alkej-160	252	6	capabilities	capability	NOUN
alkej-160	252	7	like	like	ADP
alkej-160	252	8	escapes	escape	VERB
alkej-160	252	9	from	from	ADP
alkej-160	252	10	local	local	ADJ
alkej-160	252	11	minima	minima	PROPN
alkej-160	252	12	,	,	PUNCT
alkej-160	252	13	passes	pass	VERB
alkej-160	252	14	between	between	ADP
alkej-160	252	15	closely	closely	ADV
alkej-160	252	16	spaced	space	VERB
alkej-160	252	17	obstacles	obstacle	NOUN
alkej-160	252	18	,	,	PUNCT
alkej-160	252	19	damps	damp	VERB
alkej-160	252	20	oscillations	oscillation	NOUN
alkej-160	252	21	in	in	ADP
alkej-160	252	22	the	the	DET
alkej-160	252	23	presence	presence	NOUN
alkej-160	252	24	of	of	ADP
alkej-160	252	25	obstacles	obstacle	NOUN
alkej-160	252	26	and	and	CCONJ
alkej-160	252	27	damps	damp	VERB
alkej-160	252	28	oscillations	oscillation	NOUN
alkej-160	252	29	in	in	ADP
alkej-160	252	30	narrow	narrow	ADJ
alkej-160	252	31	passages	passage	NOUN
alkej-160	252	32	.	.	PUNCT
alkej-160	253	1	•	•	NUM
alkej-160	253	2	finally	finally	ADV
alkej-160	253	3	,	,	PUNCT
alkej-160	253	4	the	the	DET
alkej-160	253	5	proposed	propose	VERB
alkej-160	253	6	on	on	ADP
alkej-160	253	7	line	line	NOUN
alkej-160	253	8	path	path	NOUN
alkej-160	253	9	planning	planning	NOUN
alkej-160	253	10	algorithm	algorithm	NOUN
alkej-160	253	11	always	always	ADV
alkej-160	253	12	go	go	VERB
alkej-160	253	13	to	to	ADP
alkej-160	253	14	the	the	DET
alkej-160	253	15	target	target	NOUN
alkej-160	253	16	within	within	ADP
alkej-160	253	17	minimum	minimum	ADJ
alkej-160	253	18	distance	distance	NOUN
alkej-160	253	19	.	.	PUNCT
alkej-160	254	1	furthermore	furthermore	ADV
alkej-160	254	2	,	,	PUNCT
alkej-160	254	3	the	the	DET
alkej-160	254	4	comparison	comparison	NOUN
alkej-160	254	5	study	study	NOUN
alkej-160	254	6	shows	show	VERB
alkej-160	254	7	that	that	SCONJ
alkej-160	254	8	our	our	PRON
alkej-160	254	9	proposed	propose	VERB
alkej-160	254	10	algorithm	algorithm	NOUN
alkej-160	254	11	is	be	AUX
alkej-160	254	12	better	well	ADJ
alkej-160	254	13	than	than	ADP
alkej-160	254	14	the	the	DET
alkej-160	254	15	algorithm	algorithm	NOUN
alkej-160	254	16	that	that	PRON
alkej-160	254	17	uses	use	VERB
alkej-160	254	18	artificial	artificial	ADJ
alkej-160	254	19	intelligence	intelligence	NOUN
alkej-160	254	20	system	system	NOUN
alkej-160	254	21	.	.	PUNCT
alkej-160	255	1	8	8	X
alkej-160	255	2	.	.	NUM
alkej-160	255	3	references	reference	NOUN
alkej-160	255	4	[	[	X
alkej-160	255	5	1	1	NUM
alkej-160	255	6	]	]	PUNCT
alkej-160	255	7	i.	i.	PROPN
alkej-160	255	8	ulrich	ulrich	PROPN
alkej-160	255	9	and	and	CCONJ
alkej-160	255	10	j.	j.	PROPN
alkej-160	255	11	borensstein	borensstein	PROPN
alkej-160	255	12	,	,	PUNCT
alkej-160	255	13	“	"	PUNCT
alkej-160	255	14	the	the	DET
alkej-160	255	15	guidecaneapplying	guidecaneapplying	NOUN
alkej-160	255	16	mobile	mobile	NOUN
alkej-160	255	17	robot	robot	NOUN
alkej-160	255	18	technologies	technology	NOUN
alkej-160	255	19	to	to	PART
alkej-160	255	20	assist	assist	VERB
alkej-160	255	21	the	the	DET
alkej-160	255	22	visually	visually	ADV
alkej-160	255	23	impaired	impair	VERB
alkej-160	255	24	”	"	PUNCT
alkej-160	255	25	,	,	PUNCT
alkej-160	255	26	part	part	NOUN
alkej-160	255	27	a	a	DET
alkej-160	255	28	:	:	PUNCT
alkej-160	255	29	system	system	NOUN
alkej-160	255	30	and	and	CCONJ
alkej-160	255	31	human	human	ADJ
alkej-160	255	32	,	,	PUNCT
alkej-160	255	33	vol	vol	NOUN
alkej-160	255	34	.	.	PROPN
alkej-160	255	35	31	31	NUM
alkej-160	255	36	,	,	PUNCT
alkej-160	255	37	2	2	NUM
alkej-160	255	38	,	,	PUNCT
alkej-160	255	39	pp	pp	ADJ
alkej-160	255	40	.	.	PUNCT
alkej-160	256	1	131	131	NUM
alkej-160	256	2	-	-	SYM
alkej-160	256	3	136	136	NUM
alkej-160	256	4	,	,	PUNCT
alkej-160	256	5	2001	2001	NUM
alkej-160	256	6	,	,	PUNCT
alkej-160	256	7	ieee	ieee	NOUN
alkej-160	256	8	transaction	transaction	NOUN
alkej-160	256	9	on	on	ADP
alkej-160	256	10	system	system	NOUN
alkej-160	256	11	,	,	PUNCT
alkej-160	256	12	man	man	NOUN
alkej-160	256	13	and	and	CCONJ
alkej-160	256	14	cybernetics	cybernetic	NOUN
alkej-160	256	15	.	.	PUNCT
alkej-160	257	1	[	[	X
alkej-160	257	2	2	2	X
alkej-160	257	3	]	]	PUNCT
alkej-160	257	4	lazhar	lazhar	ADJ
alkej-160	257	5	khriji	khriji	PROPN
alkej-160	257	6	,	,	PUNCT
alkej-160	257	7	farid	farid	PROPN
alkej-160	257	8	touati	touati	PROPN
alkej-160	257	9	,	,	PUNCT
alkej-160	257	10	kamel	kamel	PROPN
alkej-160	257	11	benhmed	benhmed	PROPN
alkej-160	257	12	,	,	PUNCT
alkej-160	257	13	and	and	CCONJ
alkej-160	257	14	amur	amur	PROPN
alkej-160	257	15	al	al	PROPN
alkej-160	257	16	-	-	PUNCT
alkej-160	257	17	yahmedi	yahmedi	PROPN
alkej-160	257	18	,	,	PUNCT
alkej-160	257	19	“	"	PUNCT
alkej-160	257	20	qlearning	qlearne	VERB
alkej-160	257	21	based	base	VERB
alkej-160	257	22	mobile	mobile	ADJ
alkej-160	257	23	robot	robot	NOUN
alkej-160	257	24	behaviors	behavior	NOUN
alkej-160	257	25	coordination	coordination	NOUN
alkej-160	257	26	”	"	PUNCT
alkej-160	257	27	,	,	PUNCT
alkej-160	257	28	november	november	PROPN
alkej-160	257	29	5	5	NUM
alkej-160	257	30	-	-	SYM
alkej-160	257	31	7	7	NUM
alkej-160	257	32	,	,	PUNCT
alkej-160	257	33	2010	2010	NUM
alkej-160	257	34	–	–	PUNCT
alkej-160	257	35	sousse	sousse	PROPN
alkej-160	257	36	,	,	PUNCT
alkej-160	257	37	tunisia	tunisia	NOUN
alkej-160	257	38	,	,	PUNCT
alkej-160	257	39	international	international	ADJ
alkej-160	257	40	renewable	renewable	ADJ
alkej-160	257	41	energy	energy	NOUN
alkej-160	257	42	congress	congress	NOUN
alkej-160	257	43	.	.	PUNCT
alkej-160	258	1	[	[	X
alkej-160	258	2	3	3	NUM
alkej-160	258	3	]	]	X
alkej-160	258	4	cameron	cameron	PROPN
alkej-160	258	5	,	,	PUNCT
alkej-160	258	6	“	"	PUNCT
alkej-160	258	7	obstacle	obstacle	NOUN
alkej-160	258	8	avoidance	avoidance	NOUN
alkej-160	258	9	and	and	CCONJ
alkej-160	258	10	path	path	NOUN
alkej-160	258	11	planning”,1994	planning”,1994	ADJ
alkej-160	258	12	,	,	PUNCT
alkej-160	258	13	industrial	industrial	ADJ
alkej-160	258	14	robot	robot	NOUN
alkej-160	258	15	:	:	PUNCT
alkej-160	258	16	an	an	DET
alkej-160	258	17	international	international	ADJ
alkej-160	258	18	journal	journal	NOUN
alkej-160	258	19	,	,	PUNCT
alkej-160	258	20	vol	vol	NOUN
alkej-160	258	21	:	:	PUNCT
alkej-160	258	22	21(5):p.9	21(5):p.9	NUM
alkej-160	258	23	-	-	SYM
alkej-160	258	24	14	14	NUM
alkej-160	258	25	.	.	PUNCT
alkej-160	259	1	[	[	X
alkej-160	259	2	4	4	NUM
alkej-160	259	3	]	]	X
alkej-160	259	4	o.	o.	PROPN
alkej-160	259	5	khatii	khatii	PROPN
alkej-160	259	6	,	,	PUNCT
alkej-160	259	7	"	"	PUNCT
alkej-160	259	8	real	real	ADJ
alkej-160	259	9	-	-	PUNCT
alkej-160	259	10	time	time	NOUN
alkej-160	259	11	obstacle	obstacle	NOUN
alkej-160	259	12	avoidance	avoidance	NOUN
alkej-160	259	13	for	for	ADP
alkej-160	259	14	manipulators	manipulator	NOUN
alkej-160	259	15	and	and	CCONJ
alkej-160	259	16	mobile	mobile	NOUN
alkej-160	259	17	robots	robot	NOUN
alkej-160	259	18	"	"	PUNCT
alkej-160	259	19	,	,	PUNCT
alkej-160	259	20	90	90	NUM
alkej-160	259	21	-	-	SYM
alkej-160	259	22	98	98	NUM
alkej-160	259	23	,	,	PUNCT
alkej-160	259	24	1986	1986	NUM
alkej-160	259	25	,	,	PUNCT
alkej-160	259	26	hitcmational	hitcmational	ADJ
alkej-160	259	27	jomal	jomal	ADJ
alkej-160	259	28	of	of	ADP
alkej-160	259	29	robotics	robotic	NOUN
alkej-160	259	30	research	research	NOUN
alkej-160	259	31	vol	vol	NOUN
alkej-160	259	32	.	.	PROPN
alkej-160	259	33	5	5	NUM
alkej-160	259	34	,	,	PUNCT
alkej-160	259	35	110	110	NUM
alkej-160	259	36	.	.	PUNCT
alkej-160	260	1	[	[	X
alkej-160	260	2	5	5	X
alkej-160	260	3	]	]	X
alkej-160	260	4	hossein	hossein	PROPN
alkej-160	260	5	adeli	adeli	PROPN
alkej-160	260	6	,	,	PUNCT
alkej-160	260	7	m.h.n	m.h.n	PROPN
alkej-160	260	8	.	.	PUNCT
alkej-160	260	9	tabrizi	tabrizi	NOUN
alkej-160	260	10	,	,	PUNCT
alkej-160	260	11	alborz	alborz	ADJ
alkej-160	260	12	mazloomian	mazloomian	PROPN
alkej-160	260	13	,	,	PUNCT
alkej-160	260	14	ehsan	ehsan	PROPN
alkej-160	260	15	hajipour	hajipour	PROPN
alkej-160	260	16	and	and	CCONJ
alkej-160	260	17	mehran	mehran	PROPN
alkej-160	260	18	jahed	jahe	VERB
alkej-160	260	19	,	,	PUNCT
alkej-160	260	20	”	"	PUNCT
alkej-160	260	21	path	path	NOUN
alkej-160	260	22	planning	planning	NOUN
alkej-160	260	23	for	for	ADP
alkej-160	260	24	mobile	mobile	ADJ
alkej-160	260	25	robots	robot	NOUN
alkej-160	260	26	using	use	VERB
alkej-160	260	27	iterative	iterative	ADJ
alkej-160	260	28	artificial	artificial	ADJ
alkej-160	260	29	potential	potential	ADJ
alkej-160	260	30	field	field	NOUN
alkej-160	260	31	method	method	NOUN
alkej-160	260	32	”	"	PUNCT
alkej-160	260	33	,	,	PUNCT
alkej-160	260	34	2011	2011	NUM
alkej-160	260	35	,	,	PUNCT
alkej-160	260	36	ijcsi	ijcsi	ADJ
alkej-160	260	37	international	international	ADJ
alkej-160	260	38	journal	journal	NOUN
alkej-160	260	39	of	of	ADP
alkej-160	260	40	computer	computer	NOUN
alkej-160	260	41	science	science	NOUN
alkej-160	260	42	issues	issue	NOUN
alkej-160	260	43	,	,	PUNCT
alkej-160	260	44	vol	vol	NOUN
alkej-160	260	45	.	.	PROPN
alkej-160	260	46	8	8	NUM
alkej-160	260	47	,	,	PUNCT
alkej-160	260	48	issue	issue	NOUN
alkej-160	260	49	4	4	NUM
alkej-160	260	50	,	,	PUNCT
alkej-160	260	51	no	no	DET
alkej-160	260	52	2	2	NUM
alkej-160	260	53	,	,	PUNCT
alkej-160	260	54	july	july	PROPN
alkej-160	260	55	.	.	PUNCT
alkej-160	261	1	[	[	X
alkej-160	261	2	6	6	NUM
alkej-160	261	3	]	]	X
alkej-160	261	4	n.	n.	PROPN
alkej-160	261	5	sadati	sadati	PROPN
alkej-160	261	6	,	,	PUNCT
alkej-160	261	7	j.	j.	PROPN
alkej-160	261	8	taheri	taheri	PROPN
alkej-160	261	9	,	,	PUNCT
alkej-160	261	10	“	"	PUNCT
alkej-160	261	11	hopfield	hopfield	ADJ
alkej-160	261	12	neural	neural	ADJ
alkej-160	261	13	network	network	NOUN
alkej-160	261	14	in	in	ADP
alkej-160	261	15	solving	solve	VERB
alkej-160	261	16	the	the	DET
alkej-160	261	17	robot	robot	NOUN
alkej-160	261	18	motion	motion	NOUN
alkej-160	261	19	planning	planning	NOUN
alkej-160	261	20	problem	problem	NOUN
alkej-160	261	21	”	"	PUNCT
alkej-160	261	22	,	,	PUNCT
alkej-160	261	23	iasted	iaste	VERB
alkej-160	261	24	intl	intl	PROPN
alkej-160	261	25	.	.	PUNCT
alkej-160	262	1	conf	conf	PROPN
alkej-160	262	2	.	.	PUNCT
alkej-160	263	1	on	on	ADP
alkej-160	263	2	applied	apply	VERB
alkej-160	263	3	informatics	informatic	NOUN
alkej-160	263	4	(	(	PUNCT
alkej-160	263	5	ai2002	ai2002	NOUN
alkej-160	263	6	)	)	PUNCT
alkej-160	263	7	,	,	PUNCT
alkej-160	263	8	innsbruck	innsbruck	PROPN
alkej-160	263	9	,	,	PUNCT
alkej-160	263	10	austria	austria	PROPN
alkej-160	263	11	,	,	PUNCT
alkej-160	263	12	feb	feb	PROPN
alkej-160	263	13	2002	2002	NUM
alkej-160	263	14	.	.	PUNCT
alkej-160	264	1	[	[	X
alkej-160	264	2	7	7	X
alkej-160	264	3	]	]	X
alkej-160	264	4	h.	h.	PROPN
alkej-160	264	5	mahjoubi	mahjoubi	PROPN
alkej-160	264	6	,	,	PUNCT
alkej-160	264	7	f.	f.	PROPN
alkej-160	264	8	bahrami	bahrami	PROPN
alkej-160	264	9	,	,	PUNCT
alkej-160	264	10	and	and	CCONJ
alkej-160	264	11	c.	c.	PROPN
alkej-160	264	12	lucas	lucas	PROPN
alkej-160	264	13	,	,	PUNCT
alkej-160	264	14	“	"	PUNCT
alkej-160	264	15	path	path	NOUN
alkej-160	264	16	planning	planning	NOUN
alkej-160	264	17	in	in	ADP
alkej-160	264	18	an	an	DET
alkej-160	264	19	environment	environment	NOUN
alkej-160	264	20	with	with	ADP
alkej-160	264	21	static	static	ADJ
alkej-160	264	22	and	and	CCONJ
alkej-160	264	23	dynamic	dynamic	ADJ
alkej-160	264	24	obstacles	obstacle	NOUN
alkej-160	264	25	using	use	VERB
alkej-160	264	26	genetic	genetic	ADJ
alkej-160	264	27	algorithm	algorithm	NOUN
alkej-160	264	28	:	:	PUNCT
alkej-160	264	29	a	a	DET
alkej-160	264	30	simplified	simplified	ADJ
alkej-160	264	31	search	search	NOUN
alkej-160	264	32	space	space	NOUN
alkej-160	264	33	approach	approach	NOUN
alkej-160	264	34	,	,	PUNCT
alkej-160	264	35	”	"	PUNCT
alkej-160	264	36	ieee	ieee	NOUN
alkej-160	264	37	congress	congress	PROPN
alkej-160	264	38	on	on	ADP
alkej-160	264	39	evolutionary	evolutionary	ADJ
alkej-160	264	40	,	,	PUNCT
alkej-160	264	41	pp	pp	ADJ
alkej-160	264	42	.	.	PUNCT
alkej-160	264	43	2483	2483	NUM
alkej-160	264	44	-	-	SYM
alkej-160	264	45	2489	2489	NUM
alkej-160	264	46	,	,	PUNCT
alkej-160	264	47	2006	2006	NUM
alkej-160	264	48	.	.	PUNCT
alkej-160	265	1	[	[	X
alkej-160	265	2	8	8	NUM
alkej-160	265	3	]	]	X
alkej-160	265	4	mohammad	mohammad	PROPN
alkej-160	265	5	abdel	abdel	PROPN
alkej-160	265	6	kareem	kareem	PROPN
alkej-160	265	7	jaradat	jaradat	PROPN
alkej-160	265	8	,	,	PUNCT
alkej-160	265	9	mohammad	mohammad	PROPN
alkej-160	265	10	h.	h.	PROPN
alkej-160	265	11	garibeh	garibeh	PROPN
alkej-160	265	12	and	and	CCONJ
alkej-160	265	13	eyad	eyad	NOUN
alkej-160	265	14	a.	a.	NOUN
alkej-160	265	15	feilat	feilat	NOUN
alkej-160	265	16	,	,	PUNCT
alkej-160	265	17	“	"	PUNCT
alkej-160	265	18	autonomous	autonomous	ADJ
alkej-160	265	19	mobile	mobile	ADJ
alkej-160	265	20	robot	robot	NOUN
alkej-160	265	21	dynamic	dynamic	ADJ
alkej-160	265	22	motion	motion	NOUN
alkej-160	265	23	planning	planning	NOUN
alkej-160	265	24	using	use	VERB
alkej-160	265	25	hybrid	hybrid	ADJ
alkej-160	265	26	fuzzy	fuzzy	ADJ
alkej-160	265	27	potential	potential	ADJ
alkej-160	265	28	field	field	NOUN
alkej-160	265	29	”	"	PUNCT
alkej-160	265	30	,	,	PUNCT
alkej-160	265	31	springer	springer	NOUN
alkej-160	265	32	,	,	PUNCT
alkej-160	265	33	9	9	NUM
alkej-160	265	34	june	june	PROPN
alkej-160	265	35	2011	2011	NUM
alkej-160	265	36	.	.	PUNCT
alkej-160	266	1	[	[	X
alkej-160	266	2	9	9	X
alkej-160	266	3	]	]	PUNCT
alkej-160	266	4	he	he	PRON
alkej-160	266	5	bing	bing	VERB
alkej-160	266	6	,	,	PUNCT
alkej-160	266	7	lid	lid	NOUN
alkej-160	266	8	gang	gang	NOUN
alkej-160	266	9	and	and	CCONJ
alkej-160	266	10	nan	nan	PROPN
alkej-160	266	11	nan	nan	PROPN
alkej-160	266	12	li	li	PROPN
alkej-160	266	13	yan	yan	PROPN
alkej-160	266	14	,	,	PUNCT
alkej-160	266	15	“	"	PUNCT
alkej-160	266	16	a	a	DET
alkej-160	266	17	route	route	NOUN
alkej-160	266	18	planning	planning	NOUN
alkej-160	266	19	method	method	NOUN
alkej-160	266	20	based	base	VERB
alkej-160	266	21	on	on	ADP
alkej-160	266	22	improved	improve	VERB
alkej-160	266	23	artificial	artificial	ADJ
alkej-160	266	24	potential	potential	ADJ
alkej-160	266	25	field	field	NOUN
alkej-160	266	26	algorithm	algorithm	NOUN
alkej-160	266	27	”	"	PUNCT
alkej-160	266	28	,	,	PUNCT
alkej-160	266	29	ieee	ieee	NOUN
alkej-160	266	30	,	,	PUNCT
alkej-160	266	31	2011	2011	NUM
alkej-160	266	32	.	.	PUNCT
alkej-160	267	1	[	[	X
alkej-160	267	2	10	10	NUM
alkej-160	267	3	]	]	SYM
alkej-160	267	4	o.khatib	o.khatib	NOUN
alkej-160	267	5	,	,	PUNCT
alkej-160	267	6	"	"	PUNCT
alkej-160	267	7	real	real	ADJ
alkej-160	267	8	-	-	PUNCT
alkej-160	267	9	time	time	NOUN
alkej-160	267	10	obstacle	obstacle	NOUN
alkej-160	267	11	avoidance	avoidance	NOUN
alkej-160	267	12	for	for	ADP
alkej-160	267	13	manipulators	manipulator	NOUN
alkej-160	267	14	and	and	CCONJ
alkej-160	267	15	mobile	mobile	NOUN
alkej-160	267	16	robots	robot	NOUN
alkej-160	267	17	,	,	PUNCT
alkej-160	267	18	"	"	PUNCT
alkej-160	267	19	intl	intl	PROPN
alkej-160	267	20	.	.	PUNCT
alkej-160	268	1	j.	j.	PROPN
alkej-160	268	2	of	of	ADP
alkej-160	268	3	robotics	robotic	NOUN
alkej-160	268	4	research	research	NOUN
alkej-160	268	5	,	,	PUNCT
alkej-160	268	6	vol	vol	NOUN
alkej-160	268	7	.	.	PROPN
alkej-160	268	8	5	5	NUM
alkej-160	268	9	,	,	PUNCT
alkej-160	268	10	no	no	INTJ
alkej-160	268	11	.	.	NOUN
alkej-160	268	12	1	1	NUM
alkej-160	268	13	,	,	PUNCT
alkej-160	268	14	pp	pp	ADV
alkej-160	268	15	90	90	NUM
alkej-160	268	16	-	-	SYM
alkej-160	268	17	98	98	NUM
alkej-160	268	18	,	,	PUNCT
alkej-160	268	19	1986	1986	NUM
alkej-160	268	20	.	.	PUNCT
alkej-160	268	21	)	)	PUNCT
alkej-160	269	1	2013(71	2013(71	NUM
alkej-160	269	2	-	-	SYM
alkej-160	269	3	82	82	NUM
alkej-160	269	4	،	،	X
alkej-160	269	5	صفحة1	صفحة1	PROPN
alkej-160	269	6	،	،	PROPN
alkej-160	269	7	العدد9مجلة	العدد9مجلة	PROPN
alkej-160	269	8	الخوارزمي	الخوارزمي	VERB
alkej-160	269	9	الھندسیة	الھندسیة	PROPN
alkej-160	269	10	المجلد	المجلد	PROPN
alkej-160	269	11	وعد	وعد	PROPN
alkej-160	269	12	عباس	عباس	VERB
alkej-160	269	13	ىمصطف	ىمصطف	NOUN
alkej-160	269	14	82	82	NUM
alkej-160	269	15	تجنب	تجنب	ADJ
alkej-160	269	16	العوائق	العوائق	PROPN
alkej-160	269	17	للروبوت	للروبوت	NOUN
alkej-160	269	18	النقال	النقال	NOUN
alkej-160	269	19	باستخدام	باستخدام	NOUN
alkej-160	269	20	مجال	مجال	ADP
alkej-160	269	21	القوى	القوى	NOUN
alkej-160	269	22	االصطناعي	االصطناعي	NOUN
alkej-160	269	23	المعزز	المعزز	NOUN
alkej-160	269	24	*	*	PUNCT
alkej-160	269	25	*	*	PUNCT
alkej-160	269	26	وعد	وعد	PROPN
alkej-160	269	27	عباس	عباس	VERB
alkej-160	269	28	ىمصطف	ىمصطف	NOUN
alkej-160	269	29	*	*	SYM
alkej-160	269	30	جاسم	جاسم	ADJ
alkej-160	269	31	محمد	محمد	ADJ
alkej-160	269	32	محمد	محمد	PROPN
alkej-160	269	33	الجامعة	الجامعة	NOUN
alkej-160	269	34	التكنولوجیة	التكنولوجیة	NOUN
alkej-160	269	35	/قسم	/قسم	X
alkej-160	269	36	ھندسة	ھندسة	PROPN
alkej-160	269	37	السیطرة	السیطرة	PROPN
alkej-160	269	38	والنظم	والنظم	INTJ
alkej-160	270	1	*	*	PROPN
alkej-160	271	1	*	*	PROPN
alkej-160	271	2	،	،	X
alkej-160	271	3	*	*	PUNCT
alkej-160	271	4	moh62moh@yahoo.com	moh62moh@yahoo.com	NOUN
alkej-160	271	5	:	:	PUNCT
alkej-160	271	6	البرید	البرید	NOUN
alkej-160	271	7	االلكتروني	االلكتروني	PROPN
alkej-160	271	8	*	*	SYM
alkej-160	271	9	mustaffa.waad@yahoo.com	mustaffa.waad@yahoo.com	X
alkej-160	271	10	:	:	PUNCT
alkej-160	271	11	ينااللكتروالبرید	ينااللكتروالبرید	NOUN
alkej-160	272	1	*	*	PUNCT
alkej-160	272	2	*	*	NOUN
alkej-160	272	3	صةالخال	صةالخال	X
alkej-160	272	4	ھذا	ھذا	VERB
alkej-160	272	5	الٌمِخطط	الٌمِخطط	PROPN
alkej-160	272	6	أُقترح	أُقترح	ADP
alkej-160	272	7	ألِیجاد	ألِیجاد	NOUN
alkej-160	272	8	الَحلوْل	الَحلوْل	NOUN
alkej-160	272	9	ِبسرَعة	ِبسرَعة	PROPN
alkej-160	272	10	عاِلیة	عاِلیة	ADP
alkej-160	272	11	وَفوریْة	وَفوریْة	PROPN
alkej-160	272	12	لَمشاكْل	لَمشاكْل	NUM
alkej-160	272	13	َتخطیْط	َتخطیْط	PROPN
alkej-160	272	14	َطریْق	َطریْق	NOUN
alkej-160	272	15	.	.	PUNCT
alkej-160	273	1	جاْل	جاْل	ADJ
alkej-160	273	2	القوى	القوى	NOUN
alkej-160	273	3	األصِطناعْي	األصِطناعْي	PROPN
alkej-160	273	4	الٌمَعززفي	الٌمَعززفي	PROPN
alkej-160	273	5	ھذا	ھذا	VERB
alkej-160	273	6	الَبحْث	الَبحْث	PROPN
alkej-160	273	7	َتْم	َتْم	X
alkej-160	273	8	َتقدیْم	َتقدیْم	VERB
alkej-160	273	9	ُمِخطط	ُمِخطط	NOUN
alkej-160	273	10	َم	َم	NOUN
alkej-160	273	11	ُیمثل	ُیمثل	ADJ
alkej-160	273	12	ُكال	ُكال	NOUN
alkej-160	273	13	ِمْن	ِمْن	PRON
alkej-160	273	14	القوة	القوة	NOUN
alkej-160	273	15	الَتقلیدْي	الَتقلیدْي	PROPN
alkej-160	273	16	أن	أن	ADP
alkej-160	273	17	َمجال	َمجال	ADJ
alkej-160	273	18	القوْى	القوْى	NOUN
alkej-160	273	19	الألصطناعي	الألصطناعي	NOUN
alkej-160	273	20	.	.	PUNCT
alkej-160	274	1	َعوائْق	َعوائْق	NOUN
alkej-160	274	2	َغیر	َغیر	ADJ
alkej-160	274	3	َمعروفة	َمعروفة	NOUN
alkej-160	274	4	الَمواقع	الَمواقع	NOUN
alkej-160	274	5	واألحجام	واألحجام	PROPN
alkej-160	274	6	الُروبوْت	الُروبوْت	PROPN
alkej-160	274	7	الَنقاْل	الَنقاْل	PROPN
alkej-160	274	8	ِعندْما	ِعندْما	NUM
alkej-160	274	9	َتكوْن	َتكوْن	NOUN
alkej-160	274	10	الِبیئة	الِبیئة	PROPN
alkej-160	274	11	الَمدروْسة	الَمدروْسة	PROPN
alkej-160	274	12	َتحتوي	َتحتوي	VERB
alkej-160	274	13	َعلى	َعلى	NOUN
alkej-160	275	1	اِنیة	اِنیة	PROPN
alkej-160	275	2	فاْن	فاْن	PROPN
alkej-160	275	3	َمجال	َمجال	PROPN
alkej-160	275	4	مْن	مْن	PROPN
alkej-160	275	5	ناحیة	ناحیة	PROPN
alkej-160	275	6	ث	ث	PROPN
alkej-160	275	7	.	.	PUNCT
alkej-160	276	1	ھذِه	ھذِه	NOUN
alkej-160	276	2	القوى	القوى	NOUN
alkej-160	277	1	ُممكْن	ُممكْن	PROPN
alkej-160	277	2	ان	ان	ADP
alkej-160	277	3	ُتعتبر	ُتعتبر	ADJ
alkej-160	277	4	َدلیْل	َدلیْل	NOUN
alkej-160	278	1	األِتجاه	األِتجاه	PROPN
alkej-160	278	2	األساسي	األساسي	VERB
alkej-160	278	3	للُروبوت	للُروبوت	PROPN
alkej-160	278	4	الَنقال	الَنقال	ADV
alkej-160	278	5	.الَنبضیة	.الَنبضیة	PROPN
alkej-160	278	6	ُنتیجْة	ُنتیجْة	VERB
alkej-160	278	7	العائْق	العائْق	ADP
alkej-160	278	8	الُمكتشف	الُمكتشف	NOUN
alkej-160	278	9	و	و	PRON
alkej-160	278	10	القوة	القوة	PROPN
alkej-160	278	11	الَجاذبة	الَجاذبة	PROPN
alkej-160	278	12	الناِتجة	الناِتجة	PUNCT
alkej-160	278	13	مْن	مْن	PROPN
alkej-160	278	14	الَھدف	الَھدف	ADP
alkej-160	278	15	ھاتان	ھاتان	PROPN
alkej-160	278	16	.	.	PUNCT
alkej-160	279	1	ولذا	ولذا	PROPN
alkej-160	279	2	أقَترحنا	أقَترحنا	PROPN
alkej-160	279	3	قوَتین	قوَتین	PROPN
alkej-160	279	4	ثاَنویتین	ثاَنویتین	PROPN
alkej-160	279	5	واللتین	واللتین	PROPN
alkej-160	279	6	ُسِمیتا	ُسِمیتا	PROPN
alkej-160	279	7	قوة	قوة	PRON
alkej-160	279	8	ُنقطة	ُنقطة	NOUN
alkej-160	279	9	الَوسط	الَوسط	NOUN
alkej-160	279	10	النبضیة	النبضیة	NOUN
alkej-160	279	11	وقوة	وقوة	NOUN
alkej-160	279	12	الَجذب	الَجذب	PROPN
alkej-160	279	13	للمتحسس	للمتحسس	NOUN
alkej-160	279	14	الخامل	الخامل	NOUN
alkej-160	279	15	.	.	PUNCT
alkej-160	280	1	َیمتلك	َیمتلك	PROPN
alkej-160	280	2	ِعدة	ِعدة	PROPN
alkej-160	280	3	َمشاكل	َمشاكل	NOUN
alkej-160	280	4	الَتقلیدْي	الَتقلیدْي	NOUN
alkej-160	280	5	القوى	القوى	NOUN
alkej-160	280	6	األصِطناعي	األصِطناعي	PROPN
alkej-160	280	7	أن	أن	PROPN
alkej-160	280	8	الَخوارزمیة	الَخوارزمیة	PROPN
alkej-160	280	9	الُمقترحة	الُمقترحة	PROPN
alkej-160	280	10	تكتْسب	تكتْسب	PROPN
alkej-160	280	11	.	.	PUNCT
alkej-160	281	1	ھایة	ھایة	NOUN
alkej-160	281	2	الَمیتة	الَمیتة	PROPN
alkej-160	282	1	وَمصیدة	وَمصیدة	PROPN
alkej-160	282	2	َحذوة	َحذوة	PROPN
alkej-160	282	3	الفرسالقوتان	الفرسالقوتان	PROPN
alkej-160	282	4	الثانویتان	الثانویتان	PROPN
alkej-160	282	5	والقوى	والقوى	PROPN
alkej-160	282	6	االساسیة	االساسیة	PROPN
alkej-160	282	7	المحسنة	المحسنة	NOUN
alkej-160	282	8	قد	قد	INTJ
alkej-160	282	9	تم	تم	NOUN
alkej-160	282	10	دمجھا	دمجھا	PROPN
alkej-160	282	11	للتغلب	للتغلب	NOUN
alkej-160	282	12	على	على	NOUN
alkej-160	282	13	الَمشاكل	الَمشاكل	PROPN
alkej-160	282	14	َمثل	َمثل	NOUN
alkej-160	282	15	الن	الن	NOUN
alkej-160	282	16	أْن	أْن	NOUN
alkej-160	282	17	الَخوارزِمْیة	الَخوارزِمْیة	X
alkej-160	282	18	.	.	PUNCT
alkej-160	283	1	َمتر	َمتر	VERB
alkej-160	283	2	٠.٨وِبَمجاْل	٠.٨وِبَمجاْل	PROPN
alkej-160	283	3	أكتشاْف	أكتشاْف	PROPN
alkej-160	283	4	الَمعلوماْت	الَمعلوماْت	PROPN
alkej-160	283	5	َعْن	َعْن	X
alkej-160	284	1	الِبیْئة	الِبیْئة	PROPN
alkej-160	284	2	الَغیر	الَغیر	PROPN
alkej-160	284	3	َمعُروفة	َمعُروفة	PROPN
alkej-160	284	4	ِبواِسطة	ِبواِسطة	PROPN
alkej-160	284	5	َجمْع	َجمْع	NOUN
alkej-160	284	6	القراءات	القراءات	VERB
alkej-160	284	7	مْن	مْن	X
alkej-160	285	1	َخمْسة	َخمْسة	NUM
alkej-160	285	2	ُمتَحِسساْت	ُمتَحِسساْت	NOUN
alkej-160	285	3	َیعَملوْن	َیعَملوْن	NUM
alkej-160	285	4	باألشْعة	باألشْعة	NOUN
alkej-160	285	5	الَتحْت	الَتحْت	ADP
alkej-160	285	6	الَحمراْء	الَحمراْء	PROPN
alkej-160	285	7	أن	أن	ADP
alkej-160	285	8	الُمْحاكاة	الُمْحاكاة	PROPN
alkej-160	285	9	والنتائْج	والنتائْج	PROPN
alkej-160	285	10	الَتجریبْیة	الَتجریبْیة	PROPN
alkej-160	285	11	ُتؤكْد	ُتؤكْد	PROPN
alkej-160	285	12	أْن	أْن	NOUN
alkej-160	285	13	الَخوارزمْیة	الَخوارزمْیة	NUM
alkej-160	285	14	الُمقترْحة	الُمقترْحة	NOUN
alkej-160	285	15	دائما	دائما	NOUN
alkej-160	285	16	ُتالقْي	ُتالقْي	NOUN
alkej-160	285	17	.	.	PUNCT
alkej-160	286	1	َكذلْك	َكذلْك	ADJ
alkej-160	286	2	َقد	َقد	ADJ
alkej-160	286	3	َتم	َتم	ADJ
alkej-160	286	4	ٌمقارنِتھا	ٌمقارنِتھا	PROPN
alkej-160	286	5	َمْع	َمْع	SYM
alkej-160	286	6	َخوارزمیْة	َخوارزمیْة	PROPN
alkej-160	286	7	أخرى	أخرى	PROPN
alkej-160	286	8	قت	قت	PROPN
alkej-160	286	9	على	على	PROPN
alkej-160	286	10	ِبیئتْین	ِبیئتْین	NOUN
alkej-160	286	11	ُمختلفتیْنالُمقترحة	ُمختلفتیْنالُمقترحة	PROPN
alkej-160	286	12	َقدُ	َقدُ	NOUN
alkej-160	286	13	ُطب	ُطب	X
alkej-160	286	14	.ْث	.ْث	PUNCT
alkej-160	286	15	َتقلیْل	َتقلیْل	VERB
alkej-160	286	16	الَزمْن	الَزمْن	NOUN
alkej-160	286	17	والُجھد	والُجھد	NOUN
alkej-160	286	18	الِحسابْيَباألضافة	الِحسابْيَباألضافة	DET
alkej-160	286	19	الْى	الْى	PROPN
alkej-160	286	20	َذلك	َذلك	NOUN
alkej-160	286	21	أن	أن	ADP
alkej-160	286	22	أداْء	أداْء	PROPN
alkej-160	286	23	الَخوارزمیة	الَخوارزمیة	PROPN
alkej-160	286	24	َجیدًا	َجیدًا	VERB
alkej-160	286	25	وُیوفْي	وُیوفْي	PROPN
alkej-160	286	26	الُمَتطلباْت	الُمَتطلباْت	PROPN
alkej-160	286	27	مْن	مْن	NOUN
alkej-160	286	28	َحی	َحی	NOUN
alkej-160	286	29	.	.	PUNCT
alkej-160	287	1	الَھدْف	الَھدْف	PROPN
alkej-160	287	2	الَمطلوْب	الَمطلوْب	PROPN
alkej-160	287	3	mailto:moh62moh@yahoo.com	mailto:moh62moh@yahoo.com	X
alkej-160	287	4	mailto:mustaffa.waad@yahoo.com	mailto:mustaffa.waad@yahoo.com	PROPN