id	sid	tid	token	lemma	pos
alkej-775	1	1	4d6963726f736f667420576f7264202d20cacdd3ede420e6dae1c7c120d4c8edc831332d203238	4d6963726f736f667420576f7264202d20cacdd3ede420e6dae1c7c120d4c8edc831332d203238	NUM
alkej-775	1	2	>	>	X
alkej-775	1	3	this	this	PRON
alkej-775	1	4	is	be	AUX
alkej-775	1	5	an	an	DET
alkej-775	1	6	open	open	ADJ
alkej-775	1	7	access	access	NOUN
alkej-775	1	8	article	article	NOUN
alkej-775	1	9	under	under	ADP
alkej-775	1	10	the	the	DET
alkej-775	1	11	cc	cc	NOUN
alkej-775	1	12	by	by	ADP
alkej-775	1	13	license	license	NOUN
alkej-775	1	14	:	:	PUNCT
alkej-775	1	15	al	al	PROPN
alkej-775	1	16	-	-	PUNCT
alkej-775	1	17	khwarizmi	khwarizmi	PROPN
alkej-775	1	18	engineering	engineering	PROPN
alkej-775	1	19	journal	journal	PROPN
alkej-775	1	20	al	al	PROPN
alkej-775	1	21	-	-	PUNCT
alkej-775	1	22	khwarizmi	khwarizmi	PROPN
alkej-775	1	23	engineering	engineering	NOUN
alkej-775	1	24	journal	journal	PROPN
alkej-775	1	25	,	,	PUNCT
alkej-775	1	26	vol	vol	NOUN
alkej-775	1	27	.	.	PROPN
alkej-775	1	28	18	18	NUM
alkej-775	1	29	,	,	PUNCT
alkej-775	1	30	no	no	INTJ
alkej-775	1	31	.	.	NOUN
alkej-775	1	32	2	2	NUM
alkej-775	1	33	,	,	PUNCT
alkej-775	1	34	june	june	PROPN
alkej-775	1	35	,	,	PUNCT
alkej-775	1	36	(	(	PUNCT
alkej-775	1	37	2022	2022	NUM
alkej-775	1	38	)	)	PUNCT
alkej-775	2	1	p.	p.	NOUN
alkej-775	2	2	p.	p.	NOUN
alkej-775	2	3	1328	1328	NUM
alkej-775	3	1	path	path	NOUN
alkej-775	3	2	planning	planning	NOUN
alkej-775	3	3	and	and	CCONJ
alkej-775	3	4	obstacle	obstacle	NOUN
alkej-775	3	5	avoidance	avoidance	NOUN
alkej-775	3	6	of	of	ADP
alkej-775	3	7	a	a	DET
alkej-775	3	8	mobile	mobile	ADJ
alkej-775	3	9	robot	robot	NOUN
alkej-775	3	10	based	base	VERB
alkej-775	3	11	on	on	ADP
alkej-775	3	12	gwo	gwo	PROPN
alkej-775	3	13	algorithm	algorithm	PROPN
alkej-775	3	14	tahseen	tahseen	PROPN
alkej-775	3	15	fadhil	fadhil	PROPN
alkej-775	3	16	abbas	abbas	PROPN
alkej-775	3	17	*	*	PUNCT
alkej-775	4	1	alaa	alaa	PROPN
alkej-775	4	2	hassan	hassan	PROPN
alkej-775	4	3	shabeeb	shabeeb	PROPN
alkej-775	4	4	*	*	PUNCT
alkej-775	4	5	*	*	PUNCT
alkej-775	5	1	*	*	PUNCT
alkej-775	5	2	,	,	PUNCT
alkej-775	5	3	*	*	PUNCT
alkej-775	5	4	*	*	NOUN
alkej-775	5	5	department	department	NOUN
alkej-775	5	6	of	of	ADP
alkej-775	5	7	production	production	NOUN
alkej-775	5	8	engineering	engineering	NOUN
alkej-775	5	9	and	and	CCONJ
alkej-775	5	10	metallurgy/	metallurgy/	NUM
alkej-775	5	11	university	university	NOUN
alkej-775	5	12	of	of	ADP
alkej-775	5	13	technology/	technology/	NUM
alkej-775	5	14	baghdad/	baghdad/	NUM
alkej-775	5	15	iraq	iraq	PROPN
alkej-775	5	16	*	*	PUNCT
alkej-775	5	17	email	email	NOUN
alkej-775	5	18	:	:	PUNCT
alkej-775	5	19	70047@uotechnology.edu.iq	70047@uotechnology.edu.iq	NUM
alkej-775	5	20	*	*	PUNCT
alkej-775	5	21	*	*	NOUN
alkej-775	5	22	email	email	NOUN
alkej-775	5	23	:	:	PUNCT
alkej-775	5	24	alaa.h.shabeeb@uotechnology.edu.iq	alaa.h.shabeeb@uotechnology.edu.iq	NUM
alkej-775	5	25	)	)	PUNCT
alkej-775	5	26	2022	2022	NUM
alkej-775	5	27	march	march	PROPN
alkej-775	5	28	27	27	NUM
alkej-775	5	29	;	;	PUNCT
alkej-775	5	30	accepted	accept	VERB
alkej-775	5	31	2202	2202	NUM
alkej-775	5	32	january	january	PROPN
alkej-775	5	33	16received	16received	NUM
alkej-775	6	1	(	(	PUNCT
alkej-775	6	2	https://doi.org/10.22153/kej.2022.03.003	https://doi.org/10.22153/kej.2022.03.003	ADJ
alkej-775	6	3	abstract	abstract	ADJ
alkej-775	6	4	planning	planning	NOUN
alkej-775	6	5	is	be	AUX
alkej-775	6	6	among	among	ADP
alkej-775	6	7	the	the	DET
alkej-775	6	8	most	most	ADV
alkej-775	6	9	significant	significant	ADJ
alkej-775	6	10	in	in	ADP
alkej-775	6	11	the	the	DET
alkej-775	6	12	field	field	NOUN
alkej-775	6	13	of	of	ADP
alkej-775	6	14	robotics	robotic	NOUN
alkej-775	6	15	research	research	NOUN
alkej-775	6	16	.	.	PUNCT
alkej-775	7	1	as	as	SCONJ
alkej-775	7	2	it	it	PRON
alkej-775	7	3	is	be	AUX
alkej-775	7	4	linked	link	VERB
alkej-775	7	5	to	to	ADP
alkej-775	7	6	finding	find	VERB
alkej-775	7	7	a	a	DET
alkej-775	7	8	safe	safe	ADJ
alkej-775	7	9	and	and	CCONJ
alkej-775	7	10	efficient	efficient	ADJ
alkej-775	7	11	route	route	NOUN
alkej-775	7	12	in	in	ADP
alkej-775	7	13	a	a	DET
alkej-775	7	14	cluttered	cluttered	ADJ
alkej-775	7	15	environment	environment	NOUN
alkej-775	7	16	for	for	ADP
alkej-775	7	17	wheeled	wheel	VERB
alkej-775	7	18	mobile	mobile	ADJ
alkej-775	7	19	robots	robot	NOUN
alkej-775	7	20	and	and	CCONJ
alkej-775	7	21	is	be	AUX
alkej-775	7	22	considered	consider	VERB
alkej-775	7	23	a	a	DET
alkej-775	7	24	significant	significant	ADJ
alkej-775	7	25	prerequisite	prerequisite	NOUN
alkej-775	7	26	for	for	SCONJ
alkej-775	7	27	any	any	DET
alkej-775	7	28	such	such	ADJ
alkej-775	7	29	mobile	mobile	ADJ
alkej-775	7	30	robot	robot	NOUN
alkej-775	7	31	project	project	NOUN
alkej-775	7	32	to	to	PART
alkej-775	7	33	be	be	AUX
alkej-775	7	34	a	a	DET
alkej-775	7	35	success	success	NOUN
alkej-775	7	36	.	.	PUNCT
alkej-775	8	1	this	this	DET
alkej-775	8	2	paper	paper	NOUN
alkej-775	8	3	proposes	propose	VERB
alkej-775	8	4	the	the	DET
alkej-775	8	5	optimal	optimal	ADJ
alkej-775	8	6	path	path	NOUN
alkej-775	8	7	planning	planning	NOUN
alkej-775	8	8	of	of	ADP
alkej-775	8	9	the	the	DET
alkej-775	8	10	wheeled	wheel	VERB
alkej-775	8	11	mobile	mobile	ADJ
alkej-775	8	12	robot	robot	NOUN
alkej-775	8	13	with	with	ADP
alkej-775	8	14	collision	collision	NOUN
alkej-775	8	15	avoidance	avoidance	NOUN
alkej-775	8	16	by	by	ADP
alkej-775	8	17	using	use	VERB
alkej-775	8	18	an	an	DET
alkej-775	8	19	algorithm	algorithm	NOUN
alkej-775	8	20	called	call	VERB
alkej-775	8	21	grey	grey	PROPN
alkej-775	8	22	wolf	wolf	PROPN
alkej-775	8	23	optimization	optimization	NOUN
alkej-775	8	24	(	(	PUNCT
alkej-775	8	25	gwo	gwo	PROPN
alkej-775	8	26	)	)	PUNCT
alkej-775	8	27	as	as	ADP
alkej-775	8	28	a	a	DET
alkej-775	8	29	method	method	NOUN
alkej-775	8	30	for	for	ADP
alkej-775	8	31	finding	find	VERB
alkej-775	8	32	the	the	DET
alkej-775	8	33	shortest	short	ADJ
alkej-775	8	34	and	and	CCONJ
alkej-775	8	35	safe	safe	ADJ
alkej-775	8	36	.	.	PUNCT
alkej-775	9	1	the	the	DET
alkej-775	9	2	research	research	NOUN
alkej-775	9	3	goals	goal	NOUN
alkej-775	9	4	in	in	ADP
alkej-775	9	5	this	this	DET
alkej-775	9	6	study	study	NOUN
alkej-775	9	7	for	for	AUX
alkej-775	9	8	identify	identify	VERB
alkej-775	9	9	the	the	DET
alkej-775	9	10	best	good	ADJ
alkej-775	9	11	path	path	NOUN
alkej-775	9	12	while	while	SCONJ
alkej-775	9	13	taking	take	VERB
alkej-775	9	14	into	into	ADP
alkej-775	9	15	account	account	NOUN
alkej-775	9	16	the	the	DET
alkej-775	9	17	effect	effect	NOUN
alkej-775	9	18	of	of	ADP
alkej-775	9	19	the	the	DET
alkej-775	9	20	number	number	NOUN
alkej-775	9	21	of	of	ADP
alkej-775	9	22	obstacles	obstacle	NOUN
alkej-775	9	23	and	and	CCONJ
alkej-775	9	24	design	design	NOUN
alkej-775	9	25	parameters	parameter	NOUN
alkej-775	9	26	on	on	ADP
alkej-775	9	27	performance	performance	NOUN
alkej-775	9	28	for	for	ADP
alkej-775	9	29	the	the	DET
alkej-775	9	30	algorithm	algorithm	NOUN
alkej-775	9	31	to	to	PART
alkej-775	9	32	find	find	VERB
alkej-775	9	33	the	the	DET
alkej-775	9	34	best	good	ADJ
alkej-775	9	35	path	path	NOUN
alkej-775	9	36	.	.	PUNCT
alkej-775	10	1	the	the	DET
alkej-775	10	2	simulations	simulation	NOUN
alkej-775	10	3	are	be	AUX
alkej-775	10	4	run	run	VERB
alkej-775	10	5	in	in	ADP
alkej-775	10	6	the	the	DET
alkej-775	10	7	matlab	matlab	PROPN
alkej-775	10	8	environment	environment	NOUN
alkej-775	10	9	to	to	PART
alkej-775	10	10	test	test	VERB
alkej-775	10	11	the	the	DET
alkej-775	10	12	performance	performance	NOUN
alkej-775	10	13	of	of	ADP
alkej-775	10	14	the	the	DET
alkej-775	10	15	proposed	propose	VERB
alkej-775	10	16	algorithm	algorithm	NOUN
alkej-775	10	17	.	.	PUNCT
alkej-775	11	1	simulations	simulation	NOUN
alkej-775	11	2	results	result	NOUN
alkej-775	11	3	showed	show	VERB
alkej-775	11	4	that	that	SCONJ
alkej-775	11	5	the	the	DET
alkej-775	11	6	proposed	propose	VERB
alkej-775	11	7	path	path	NOUN
alkej-775	11	8	planning	planning	NOUN
alkej-775	11	9	algorithm	algorithm	NOUN
alkej-775	11	10	effective	effective	ADJ
alkej-775	11	11	performance	performance	NOUN
alkej-775	11	12	by	by	ADP
alkej-775	11	13	finding	find	VERB
alkej-775	11	14	the	the	DET
alkej-775	11	15	shortest	short	ADJ
alkej-775	11	16	and	and	CCONJ
alkej-775	11	17	free	free	ADJ
alkej-775	11	18	-	-	PUNCT
alkej-775	11	19	collision	collision	NOUN
alkej-775	11	20	path	path	NOUN
alkej-775	11	21	in	in	ADP
alkej-775	11	22	different	different	ADJ
alkej-775	11	23	collide	collide	NOUN
alkej-775	11	24	environments	environment	NOUN
alkej-775	11	25	.	.	PUNCT
alkej-775	12	1	furthermore	furthermore	ADV
alkej-775	12	2	,	,	PUNCT
alkej-775	12	3	the	the	DET
alkej-775	12	4	superiority	superiority	NOUN
alkej-775	12	5	of	of	ADP
alkej-775	12	6	the	the	DET
alkej-775	12	7	proposed	propose	VERB
alkej-775	12	8	algorithm	algorithm	NOUN
alkej-775	12	9	was	be	AUX
alkej-775	12	10	proved	prove	VERB
alkej-775	12	11	through	through	ADP
alkej-775	12	12	comparisons	comparison	NOUN
alkej-775	12	13	with	with	ADP
alkej-775	12	14	other	other	ADJ
alkej-775	12	15	famous	famous	ADJ
alkej-775	12	16	path	path	NOUN
alkej-775	12	17	planning	planning	NOUN
alkej-775	12	18	algorithms	algorithm	NOUN
alkej-775	12	19	with	with	ADP
alkej-775	12	20	different	different	ADJ
alkej-775	12	21	static	static	ADJ
alkej-775	12	22	environments	environment	NOUN
alkej-775	12	23	.	.	PUNCT
alkej-775	13	1	keywords	keyword	NOUN
alkej-775	13	2	:	:	PUNCT
alkej-775	13	3	grey	grey	ADJ
alkej-775	13	4	wolf	wolf	PROPN
alkej-775	13	5	optimization	optimization	NOUN
alkej-775	13	6	(	(	PUNCT
alkej-775	13	7	gwo	gwo	PROPN
alkej-775	13	8	)	)	PUNCT
alkej-775	13	9	,	,	PUNCT
alkej-775	13	10	mobile	mobile	NOUN
alkej-775	13	11	robot	robot	NOUN
alkej-775	13	12	,	,	PUNCT
alkej-775	13	13	path	path	NOUN
alkej-775	13	14	planning	planning	NOUN
alkej-775	13	15	,	,	PUNCT
alkej-775	13	16	obstacle	obstacle	NOUN
alkej-775	13	17	avoidance	avoidance	NOUN
alkej-775	13	18	.	.	PUNCT
alkej-775	14	1	1	1	X
alkej-775	14	2	.	.	X
alkej-775	14	3	introduction	introduction	NOUN
alkej-775	14	4	the	the	DET
alkej-775	14	5	fourth	fourth	PROPN
alkej-775	14	6	industrial	industrial	ADJ
alkej-775	14	7	revolution	revolution	NOUN
alkej-775	14	8	and	and	CCONJ
alkej-775	14	9	digital	digital	ADJ
alkej-775	14	10	innovation	innovation	NOUN
alkej-775	14	11	have	have	AUX
alkej-775	14	12	led	lead	VERB
alkej-775	14	13	to	to	ADP
alkej-775	14	14	the	the	DET
alkej-775	14	15	increased	increase	VERB
alkej-775	14	16	interest	interest	NOUN
alkej-775	14	17	in	in	ADP
alkej-775	14	18	the	the	DET
alkej-775	14	19	use	use	NOUN
alkej-775	14	20	of	of	ADP
alkej-775	14	21	robots	robot	NOUN
alkej-775	14	22	across	across	ADP
alkej-775	14	23	industries	industry	NOUN
alkej-775	14	24	;	;	PUNCT
alkej-775	14	25	thus	thus	ADV
alkej-775	14	26	,	,	PUNCT
alkej-775	14	27	robots	robot	NOUN
alkej-775	14	28	are	be	AUX
alkej-775	14	29	being	be	AUX
alkej-775	14	30	used	use	VERB
alkej-775	14	31	in	in	ADP
alkej-775	14	32	various	various	ADJ
alkej-775	14	33	industrial	industrial	ADJ
alkej-775	14	34	sites	site	NOUN
alkej-775	14	35	,	,	PUNCT
alkej-775	14	36	households	household	NOUN
alkej-775	14	37	,	,	PUNCT
alkej-775	14	38	military	military	NOUN
alkej-775	14	39	,	,	PUNCT
alkej-775	14	40	and	and	CCONJ
alkej-775	14	41	medical	medical	ADJ
alkej-775	14	42	[	[	X
alkej-775	14	43	1	1	NUM
alkej-775	14	44	]	]	PUNCT
alkej-775	14	45	.	.	PUNCT
alkej-775	15	1	in	in	ADP
alkej-775	15	2	the	the	DET
alkej-775	15	3	field	field	NOUN
alkej-775	15	4	of	of	ADP
alkej-775	15	5	robotics	robotic	NOUN
alkej-775	15	6	,	,	PUNCT
alkej-775	15	7	two	two	NUM
alkej-775	15	8	important	important	ADJ
alkej-775	15	9	issues	issue	NOUN
alkej-775	15	10	are	be	AUX
alkej-775	15	11	travel	travel	NOUN
alkej-775	15	12	preparation	preparation	NOUN
alkej-775	15	13	(	(	PUNCT
alkej-775	15	14	path	path	NOUN
alkej-775	15	15	planning	planning	NOUN
alkej-775	15	16	)	)	PUNCT
alkej-775	15	17	and	and	CCONJ
alkej-775	15	18	collision	collision	NOUN
alkej-775	15	19	avoidance	avoidance	NOUN
alkej-775	15	20	,	,	PUNCT
alkej-775	15	21	which	which	PRON
alkej-775	15	22	are	be	AUX
alkej-775	15	23	studied	study	VERB
alkej-775	15	24	and	and	CCONJ
alkej-775	15	25	discussed	discuss	VERB
alkej-775	15	26	by	by	ADP
alkej-775	15	27	numerous	numerous	ADJ
alkej-775	15	28	researchers	researcher	NOUN
alkej-775	15	29	in	in	ADP
alkej-775	15	30	the	the	DET
alkej-775	15	31	past	past	ADJ
alkej-775	15	32	three	three	NUM
alkej-775	15	33	decades	decade	NOUN
alkej-775	15	34	.	.	PUNCT
alkej-775	16	1	the	the	DET
alkej-775	16	2	primary	primary	ADJ
alkej-775	16	3	reason	reason	NOUN
alkej-775	16	4	for	for	ADP
alkej-775	16	5	motion	motion	NOUN
alkej-775	16	6	planning	planning	NOUN
alkej-775	16	7	is	be	AUX
alkej-775	16	8	to	to	PART
alkej-775	16	9	discover	discover	VERB
alkej-775	16	10	an	an	DET
alkej-775	16	11	optimal	optimal	ADJ
alkej-775	16	12	or	or	CCONJ
alkej-775	16	13	almost	almost	ADV
alkej-775	16	14	optimal	optimal	ADJ
alkej-775	16	15	track	track	NOUN
alkej-775	16	16	from	from	ADP
alkej-775	16	17	initial	initial	ADJ
alkej-775	16	18	to	to	ADP
alkej-775	16	19	final	final	ADJ
alkej-775	16	20	destination	destination	NOUN
alkej-775	16	21	point	point	NOUN
alkej-775	16	22	with	with	ADP
alkej-775	16	23	the	the	DET
alkej-775	16	24	potential	potential	NOUN
alkej-775	16	25	for	for	ADP
alkej-775	16	26	collision	collision	NOUN
alkej-775	16	27	avoidance	avoidance	NOUN
alkej-775	16	28	.	.	PUNCT
alkej-775	17	1	therefore	therefore	ADV
alkej-775	17	2	,	,	PUNCT
alkej-775	17	3	route	route	NOUN
alkej-775	17	4	planning	planning	NOUN
alkej-775	17	5	is	be	AUX
alkej-775	17	6	an	an	DET
alkej-775	17	7	important	important	ADJ
alkej-775	17	8	aspect	aspect	NOUN
alkej-775	17	9	of	of	ADP
alkej-775	17	10	designing	design	VERB
alkej-775	17	11	a	a	DET
alkej-775	17	12	quick	quick	ADJ
alkej-775	17	13	and	and	CCONJ
alkej-775	17	14	efficient	efficient	ADJ
alkej-775	17	15	navigation	navigation	NOUN
alkej-775	17	16	procedure	procedure	NOUN
alkej-775	17	17	[	[	X
alkej-775	17	18	2,3	2,3	NUM
alkej-775	17	19	]	]	PUNCT
alkej-775	17	20	.	.	PUNCT
alkej-775	18	1	path	path	NOUN
alkej-775	18	2	planning	planning	NOUN
alkej-775	18	3	can	can	AUX
alkej-775	18	4	be	be	AUX
alkej-775	18	5	considered	consider	VERB
alkej-775	18	6	a	a	DET
alkej-775	18	7	problem	problem	NOUN
alkej-775	18	8	of	of	ADP
alkej-775	18	9	optimization	optimization	NOUN
alkej-775	18	10	since	since	SCONJ
alkej-775	18	11	it	it	PRON
alkej-775	18	12	's	be	AUX
alkej-775	18	13	aimed	aim	VERB
alkej-775	18	14	at	at	ADP
alkej-775	18	15	finding	find	VERB
alkej-775	18	16	a	a	DET
alkej-775	18	17	path	path	NOUN
alkej-775	18	18	with	with	ADP
alkej-775	18	19	the	the	DET
alkej-775	18	20	shortest	short	ADJ
alkej-775	18	21	distance	distance	NOUN
alkej-775	18	22	beneath	beneath	ADP
alkej-775	18	23	certain	certain	ADJ
alkej-775	18	24	restrictions	restriction	NOUN
alkej-775	18	25	such	such	ADJ
alkej-775	18	26	as	as	ADP
alkej-775	18	27	the	the	DET
alkej-775	18	28	given	give	VERB
alkej-775	18	29	environment	environment	NOUN
alkej-775	18	30	with	with	ADP
alkej-775	18	31	motion	motion	NOUN
alkej-775	18	32	[	[	X
alkej-775	18	33	4	4	NUM
alkej-775	18	34	]	]	PUNCT
alkej-775	18	35	.	.	PUNCT
alkej-775	19	1	therefore	therefore	ADV
alkej-775	19	2	,	,	PUNCT
alkej-775	19	3	ensuring	ensure	VERB
alkej-775	19	4	a	a	DET
alkej-775	19	5	safe	safe	ADJ
alkej-775	19	6	route	route	NOUN
alkej-775	19	7	and	and	CCONJ
alkej-775	19	8	good	good	ADJ
alkej-775	19	9	path	path	NOUN
alkej-775	19	10	is	be	AUX
alkej-775	19	11	a	a	DET
alkej-775	19	12	difficult	difficult	ADJ
alkej-775	19	13	challenge	challenge	NOUN
alkej-775	19	14	for	for	ADP
alkej-775	19	15	any	any	DET
alkej-775	19	16	wheeled	wheel	VERB
alkej-775	19	17	mobile	mobile	NOUN
alkej-775	19	18	robot	robot	NOUN
alkej-775	19	19	(	(	PUNCT
alkej-775	19	20	wmr	wmr	PROPN
alkej-775	19	21	)	)	PUNCT
alkej-775	19	22	.	.	PUNCT
alkej-775	20	1	so	so	ADV
alkej-775	20	2	,	,	PUNCT
alkej-775	20	3	attention	attention	NOUN
alkej-775	20	4	to	to	ADP
alkej-775	20	5	the	the	DET
alkej-775	20	6	pathplanning	pathplanne	VERB
alkej-775	20	7	approach	approach	NOUN
alkej-775	20	8	to	to	PART
alkej-775	20	9	enable	enable	VERB
alkej-775	20	10	a	a	DET
alkej-775	20	11	mobile	mobile	ADJ
alkej-775	20	12	robot	robot	NOUN
alkej-775	20	13	to	to	PART
alkej-775	20	14	navigate	navigate	VERB
alkej-775	20	15	from	from	ADP
alkej-775	20	16	the	the	DET
alkej-775	20	17	starting	starting	NOUN
alkej-775	20	18	point	point	NOUN
alkej-775	20	19	to	to	ADP
alkej-775	20	20	the	the	DET
alkej-775	20	21	final	final	ADJ
alkej-775	20	22	destination	destination	NOUN
alkej-775	20	23	with	with	ADP
alkej-775	20	24	avoiding	avoid	VERB
alkej-775	20	25	obstacles	obstacle	NOUN
alkej-775	20	26	is	be	AUX
alkej-775	20	27	a	a	DET
alkej-775	20	28	fundamental	fundamental	ADJ
alkej-775	20	29	need	need	NOUN
alkej-775	20	30	.	.	PUNCT
alkej-775	21	1	the	the	DET
alkej-775	21	2	major	major	ADJ
alkej-775	21	3	focus	focus	NOUN
alkej-775	21	4	of	of	ADP
alkej-775	21	5	the	the	DET
alkej-775	21	6	path	path	NOUN
alkej-775	21	7	planning	planning	NOUN
alkej-775	21	8	challenge	challenge	NOUN
alkej-775	21	9	is	be	AUX
alkej-775	21	10	on	on	ADP
alkej-775	21	11	both	both	DET
alkej-775	21	12	efficiency	efficiency	NOUN
alkej-775	21	13	and	and	CCONJ
alkej-775	21	14	safety	safety	NOUN
alkej-775	21	15	.	.	PUNCT
alkej-775	22	1	wmr	wmr	PROPN
alkej-775	22	2	's	's	PART
alkej-775	22	3	most	most	ADV
alkej-775	22	4	fundamental	fundamental	ADJ
alkej-775	22	5	need	need	NOUN
alkej-775	22	6	from	from	ADP
alkej-775	22	7	an	an	DET
alkej-775	22	8	engineering	engineering	NOUN
alkej-775	22	9	standpoint	standpoint	NOUN
alkej-775	22	10	would	would	AUX
alkej-775	22	11	be	be	AUX
alkej-775	22	12	to	to	PART
alkej-775	22	13	arrive	arrive	VERB
alkej-775	22	14	at	at	ADP
alkej-775	22	15	its	its	PRON
alkej-775	22	16	allocated	allocate	VERB
alkej-775	22	17	destination	destination	NOUN
alkej-775	22	18	safely	safely	ADV
alkej-775	22	19	.	.	PUNCT
alkej-775	23	1	to	to	PART
alkej-775	23	2	achieve	achieve	VERB
alkej-775	23	3	this	this	PRON
alkej-775	23	4	,	,	PUNCT
alkej-775	23	5	any	any	DET
alkej-775	23	6	collisions	collision	NOUN
alkej-775	23	7	with	with	ADP
alkej-775	23	8	obstacles	obstacle	NOUN
alkej-775	23	9	must	must	AUX
alkej-775	23	10	be	be	AUX
alkej-775	23	11	avoided	avoid	VERB
alkej-775	23	12	and	and	CCONJ
alkej-775	23	13	prevented	prevent	VERB
alkej-775	23	14	[	[	X
alkej-775	23	15	5	5	NUM
alkej-775	23	16	]	]	PUNCT
alkej-775	23	17	.	.	PUNCT
alkej-775	24	1	as	as	ADP
alkej-775	24	2	a	a	DET
alkej-775	24	3	result	result	NOUN
alkej-775	24	4	,	,	PUNCT
alkej-775	24	5	obstacle	obstacle	NOUN
alkej-775	24	6	avoidance	avoidance	NOUN
alkej-775	24	7	is	be	AUX
alkej-775	24	8	a	a	DET
alkej-775	24	9	prerequisite	prerequisite	NOUN
alkej-775	24	10	in	in	ADP
alkej-775	24	11	the	the	DET
alkej-775	24	12	path	path	NOUN
alkej-775	24	13	-	-	PUNCT
alkej-775	24	14	planning	planning	NOUN
alkej-775	24	15	issue	issue	NOUN
alkej-775	24	16	.	.	PUNCT
alkej-775	25	1	secondary	secondary	ADJ
alkej-775	25	2	criteria	criterion	NOUN
alkej-775	25	3	might	might	AUX
alkej-775	25	4	be	be	AUX
alkej-775	25	5	developed	develop	VERB
alkej-775	25	6	when	when	SCONJ
alkej-775	25	7	obstacle	obstacle	NOUN
alkej-775	25	8	avoidance	avoidance	NOUN
alkej-775	25	9	was	be	AUX
alkej-775	25	10	determined	determine	VERB
alkej-775	25	11	as	as	ADP
alkej-775	25	12	the	the	DET
alkej-775	25	13	primary	primary	ADJ
alkej-775	25	14	need	need	NOUN
alkej-775	25	15	.	.	PUNCT
alkej-775	26	1	the	the	DET
alkej-775	26	2	length	length	NOUN
alkej-775	26	3	of	of	ADP
alkej-775	26	4	the	the	DET
alkej-775	26	5	path	path	NOUN
alkej-775	26	6	should	should	AUX
alkej-775	26	7	be	be	AUX
alkej-775	26	8	considered	consider	VERB
alkej-775	26	9	.	.	PUNCT
alkej-775	27	1	the	the	DET
alkej-775	27	2	goal	goal	NOUN
alkej-775	27	3	of	of	ADP
alkej-775	27	4	the	the	DET
alkej-775	27	5	pathplanning	pathplanning	NOUN
alkej-775	27	6	challenge	challenge	NOUN
alkej-775	27	7	is	be	AUX
alkej-775	27	8	for	for	SCONJ
alkej-775	27	9	wmr	wmr	PROPN
alkej-775	27	10	to	to	PART
alkej-775	27	11	move	move	VERB
alkej-775	27	12	from	from	ADP
alkej-775	27	13	its	its	PRON
alkej-775	27	14	current	current	ADJ
alkej-775	27	15	location	location	NOUN
alkej-775	27	16	to	to	ADP
alkej-775	27	17	its	its	PRON
alkej-775	27	18	destination	destination	NOUN
alkej-775	27	19	location	location	NOUN
alkej-775	27	20	with	with	ADP
alkej-775	27	21	the	the	DET
alkej-775	27	22	tahseen	tahseen	VERB
alkej-775	27	23	fadhil	fadhil	PROPN
alkej-775	27	24	abbas	abbas	PROPN
alkej-775	27	25	al	al	PROPN
alkej-775	27	26	-	-	PUNCT
alkej-775	27	27	khwarizmi	khwarizmi	PROPN
alkej-775	27	28	engineering	engineering	NOUN
alkej-775	27	29	journal	journal	PROPN
alkej-775	27	30	,	,	PUNCT
alkej-775	27	31	vol	vol	NOUN
alkej-775	27	32	.	.	PROPN
alkej-775	27	33	18	18	NUM
alkej-775	27	34	,	,	PUNCT
alkej-775	27	35	no	no	INTJ
alkej-775	27	36	.	.	NOUN
alkej-775	27	37	2	2	NUM
alkej-775	27	38	,	,	PUNCT
alkej-775	27	39	p.p	p.p	PROPN
alkej-775	27	40	.	.	NOUN
alkej-775	27	41	1328	1328	NUM
alkej-775	27	42	(	(	PUNCT
alkej-775	27	43	2022	2022	NUM
alkej-775	27	44	)	)	PUNCT
alkej-775	27	45	14	14	NUM
alkej-775	27	46	shortest	short	ADJ
alkej-775	27	47	path	path	NOUN
alkej-775	27	48	.	.	PUNCT
alkej-775	28	1	this	this	PRON
alkej-775	28	2	implies	imply	VERB
alkej-775	28	3	that	that	SCONJ
alkej-775	28	4	the	the	DET
alkej-775	28	5	method	method	NOUN
alkej-775	28	6	will	will	AUX
alkej-775	28	7	be	be	AUX
alkej-775	28	8	more	more	ADV
alkej-775	28	9	plausible	plausible	ADJ
alkej-775	28	10	if	if	SCONJ
alkej-775	28	11	the	the	DET
alkej-775	28	12	path	path	NOUN
alkej-775	28	13	is	be	AUX
alkej-775	28	14	shorter	short	ADJ
alkej-775	28	15	.	.	PUNCT
alkej-775	29	1	furthermore	furthermore	ADV
alkej-775	29	2	,	,	PUNCT
alkej-775	29	3	the	the	PRON
alkej-775	29	4	shorter	short	ADJ
alkej-775	29	5	the	the	DET
alkej-775	29	6	path	path	NOUN
alkej-775	29	7	,	,	PUNCT
alkej-775	29	8	the	the	DET
alkej-775	29	9	less	less	ADJ
alkej-775	29	10	time	time	NOUN
alkej-775	29	11	the	the	DET
alkej-775	29	12	robot	robot	NOUN
alkej-775	29	13	will	will	AUX
alkej-775	29	14	need	need	VERB
alkej-775	29	15	to	to	PART
alkej-775	29	16	complete	complete	VERB
alkej-775	29	17	the	the	DET
alkej-775	29	18	journey	journey	NOUN
alkej-775	29	19	[	[	X
alkej-775	29	20	6	6	NUM
alkej-775	29	21	]	]	PUNCT
alkej-775	29	22	.	.	PUNCT
alkej-775	30	1	the	the	DET
alkej-775	30	2	algorithm	algorithm	NOUN
alkej-775	30	3	's	's	PART
alkej-775	30	4	efficiency	efficiency	NOUN
alkej-775	30	5	is	be	AUX
alkej-775	30	6	also	also	ADV
alkej-775	30	7	a	a	DET
alkej-775	30	8	secondary	secondary	ADJ
alkej-775	30	9	criterion	criterion	NOUN
alkej-775	30	10	.	.	PUNCT
alkej-775	31	1	in	in	ADP
alkej-775	31	2	this	this	DET
alkej-775	31	3	scenario	scenario	NOUN
alkej-775	31	4	,	,	PUNCT
alkej-775	31	5	the	the	DET
alkej-775	31	6	computational	computational	ADJ
alkej-775	31	7	cost	cost	NOUN
alkej-775	31	8	that	that	PRON
alkej-775	31	9	the	the	DET
alkej-775	31	10	algorithm	algorithm	NOUN
alkej-775	31	11	requires	require	VERB
alkej-775	31	12	to	to	PART
alkej-775	31	13	complete	complete	VERB
alkej-775	31	14	its	its	PRON
alkej-775	31	15	assigned	assign	VERB
alkej-775	31	16	job	job	NOUN
alkej-775	31	17	is	be	AUX
alkej-775	31	18	referred	refer	VERB
alkej-775	31	19	to	to	ADP
alkej-775	31	20	as	as	ADP
alkej-775	31	21	algorithm	algorithm	NOUN
alkej-775	31	22	efficiency	efficiency	NOUN
alkej-775	31	23	.	.	PUNCT
alkej-775	32	1	so	so	ADV
alkej-775	32	2	,	,	PUNCT
alkej-775	32	3	when	when	SCONJ
alkej-775	32	4	considering	consider	VERB
alkej-775	32	5	obstacle	obstacle	NOUN
alkej-775	32	6	collision	collision	NOUN
alkej-775	32	7	and	and	CCONJ
alkej-775	32	8	path	path	NOUN
alkej-775	32	9	length	length	NOUN
alkej-775	32	10	,	,	PUNCT
alkej-775	32	11	the	the	DET
alkej-775	32	12	algorithm	algorithm	NOUN
alkej-775	32	13	's	's	PART
alkej-775	32	14	processing	processing	NOUN
alkej-775	32	15	cost	cost	NOUN
alkej-775	32	16	must	must	AUX
alkej-775	32	17	be	be	AUX
alkej-775	32	18	considered	consider	VERB
alkej-775	32	19	.	.	PUNCT
alkej-775	33	1	if	if	SCONJ
alkej-775	33	2	an	an	DET
alkej-775	33	3	algorithm	algorithm	NOUN
alkej-775	33	4	is	be	AUX
alkej-775	33	5	computationally	computationally	ADV
alkej-775	33	6	costly	costly	ADJ
alkej-775	33	7	yet	yet	ADV
alkej-775	33	8	produces	produce	VERB
alkej-775	33	9	a	a	DET
alkej-775	33	10	path	path	NOUN
alkej-775	33	11	that	that	PRON
alkej-775	33	12	is	be	AUX
alkej-775	33	13	n't	not	PART
alkej-775	33	14	considerably	considerably	ADV
alkej-775	33	15	better	well	ADJ
alkej-775	33	16	than	than	ADP
alkej-775	33	17	the	the	DET
alkej-775	33	18	competition	competition	NOUN
alkej-775	33	19	,	,	PUNCT
alkej-775	33	20	it	it	PRON
alkej-775	33	21	loses	lose	VERB
alkej-775	33	22	its	its	PRON
alkej-775	33	23	competitive	competitive	ADJ
alkej-775	33	24	edge	edge	NOUN
alkej-775	33	25	.	.	PUNCT
alkej-775	34	1	a	a	DET
alkej-775	34	2	credible	credible	ADJ
alkej-775	34	3	algorithm	algorithm	NOUN
alkej-775	34	4	should	should	AUX
alkej-775	34	5	balance	balance	VERB
alkej-775	34	6	between	between	ADP
alkej-775	34	7	the	the	DET
alkej-775	34	8	amount	amount	NOUN
alkej-775	34	9	of	of	ADP
alkej-775	34	10	time	time	NOUN
alkej-775	34	11	it	it	PRON
alkej-775	34	12	takes	take	VERB
alkej-775	34	13	to	to	PART
alkej-775	34	14	run	run	VERB
alkej-775	34	15	and	and	CCONJ
alkej-775	34	16	the	the	DET
alkej-775	34	17	quality	quality	NOUN
alkej-775	34	18	of	of	ADP
alkej-775	34	19	the	the	DET
alkej-775	34	20	results	result	NOUN
alkej-775	34	21	it	it	PRON
alkej-775	34	22	generates	generate	VERB
alkej-775	34	23	[	[	X
alkej-775	34	24	7	7	NUM
alkej-775	34	25	]	]	PUNCT
alkej-775	34	26	.	.	PUNCT
alkej-775	35	1	in	in	ADP
alkej-775	35	2	the	the	DET
alkej-775	35	3	present	present	ADJ
alkej-775	35	4	work	work	NOUN
alkej-775	35	5	,	,	PUNCT
alkej-775	35	6	grey	grey	ADJ
alkej-775	35	7	wolf	wolf	PROPN
alkej-775	35	8	optimization	optimization	NOUN
alkej-775	35	9	(	(	PUNCT
alkej-775	35	10	gwo	gwo	NOUN
alkej-775	35	11	)	)	PUNCT
alkej-775	35	12	algorithm	algorithm	NOUN
alkej-775	35	13	is	be	AUX
alkej-775	35	14	presented	present	VERB
alkej-775	35	15	,	,	PUNCT
alkej-775	35	16	to	to	PART
alkej-775	35	17	solve	solve	VERB
alkej-775	35	18	path	path	NOUN
alkej-775	35	19	planning	planning	NOUN
alkej-775	35	20	problems	problem	NOUN
alkej-775	35	21	and	and	CCONJ
alkej-775	35	22	obstacle	obstacle	NOUN
alkej-775	35	23	avoidance	avoidance	NOUN
alkej-775	35	24	in	in	ADP
alkej-775	35	25	stationary	stationary	ADJ
alkej-775	35	26	environments	environment	NOUN
alkej-775	35	27	.	.	PUNCT
alkej-775	36	1	the	the	DET
alkej-775	36	2	goal	goal	NOUN
alkej-775	36	3	of	of	ADP
alkej-775	36	4	this	this	DET
alkej-775	36	5	study	study	NOUN
alkej-775	36	6	is	be	AUX
alkej-775	36	7	to	to	PART
alkej-775	36	8	generate	generate	VERB
alkej-775	36	9	an	an	DET
alkej-775	36	10	optimal	optimal	ADJ
alkej-775	36	11	path	path	NOUN
alkej-775	36	12	that	that	PRON
alkej-775	36	13	would	would	AUX
alkej-775	36	14	lead	lead	VERB
alkej-775	36	15	to	to	ADP
alkej-775	36	16	wmr	wmr	PROPN
alkej-775	36	17	moving	move	VERB
alkej-775	36	18	in	in	ADP
alkej-775	36	19	the	the	DET
alkej-775	36	20	safe	safe	ADJ
alkej-775	36	21	paths	path	NOUN
alkej-775	36	22	,	,	PUNCT
alkej-775	36	23	with	with	ADP
alkej-775	36	24	the	the	DET
alkej-775	36	25	quickest	quick	ADJ
alkej-775	36	26	time	time	NOUN
alkej-775	36	27	possible	possible	ADJ
alkej-775	36	28	.	.	PUNCT
alkej-775	37	1	2	2	X
alkej-775	37	2	.	.	X
alkej-775	37	3	literature	literature	NOUN
alkej-775	37	4	survey	survey	NOUN
alkej-775	37	5	of	of	ADP
alkej-775	37	6	previous	previous	ADJ
alkej-775	37	7	research	research	NOUN
alkej-775	37	8	recently	recently	ADV
alkej-775	37	9	,	,	PUNCT
alkej-775	37	10	researchers	researcher	NOUN
alkej-775	37	11	and	and	CCONJ
alkej-775	37	12	scientists	scientist	NOUN
alkej-775	37	13	have	have	AUX
alkej-775	37	14	developed	develop	VERB
alkej-775	37	15	a	a	DET
alkej-775	37	16	variety	variety	NOUN
alkej-775	37	17	of	of	ADP
alkej-775	37	18	nature	nature	NOUN
alkej-775	37	19	-	-	PUNCT
alkej-775	37	20	inspired	inspire	VERB
alkej-775	37	21	algorithms	algorithm	NOUN
alkej-775	37	22	.	.	PUNCT
alkej-775	38	1	the	the	DET
alkej-775	38	2	common	common	ADJ
alkej-775	38	3	objective	objective	NOUN
alkej-775	38	4	of	of	ADP
alkej-775	38	5	these	these	DET
alkej-775	38	6	algorithms	algorithm	NOUN
alkej-775	38	7	is	be	AUX
alkej-775	38	8	to	to	PART
alkej-775	38	9	improve	improve	VERB
alkej-775	38	10	the	the	DET
alkej-775	38	11	quality	quality	NOUN
alkej-775	38	12	of	of	ADP
alkej-775	38	13	the	the	DET
alkej-775	38	14	solutions	solution	NOUN
alkej-775	38	15	,	,	PUNCT
alkej-775	38	16	stability	stability	NOUN
alkej-775	38	17	,	,	PUNCT
alkej-775	38	18	and	and	CCONJ
alkej-775	38	19	performance	performance	NOUN
alkej-775	38	20	of	of	ADP
alkej-775	38	21	convergence	convergence	NOUN
alkej-775	38	22	to	to	PART
alkej-775	38	23	solve	solve	VERB
alkej-775	38	24	and	and	CCONJ
alkej-775	38	25	enhance	enhance	VERB
alkej-775	38	26	the	the	DET
alkej-775	38	27	path	path	NOUN
alkej-775	38	28	planning	planning	NOUN
alkej-775	38	29	of	of	ADP
alkej-775	38	30	wmr	wmr	PROPN
alkej-775	38	31	.	.	PUNCT
alkej-775	39	1	ronald	ronald	PROPN
alkej-775	39	2	uriol	uriol	PROPN
alkej-775	39	3	and	and	CCONJ
alkej-775	39	4	antonio	antonio	PROPN
alkej-775	39	5	moran	moran	PROPN
alkej-775	39	6	.	.	PUNCT
alkej-775	40	1	[	[	X
alkej-775	40	2	8	8	NUM
alkej-775	40	3	]	]	PUNCT
alkej-775	40	4	presented	present	VERB
alkej-775	40	5	ant	ant	ADJ
alkej-775	40	6	colony	colony	NOUN
alkej-775	40	7	optimization	optimization	NOUN
alkej-775	40	8	(	(	PUNCT
alkej-775	40	9	aco	aco	PROPN
alkej-775	40	10	)	)	PUNCT
alkej-775	40	11	algorithm	algorithm	NOUN
alkej-775	40	12	to	to	PART
alkej-775	40	13	solve	solve	VERB
alkej-775	40	14	the	the	DET
alkej-775	40	15	path	path	NOUN
alkej-775	40	16	planning	planning	NOUN
alkej-775	40	17	challenge	challenge	NOUN
alkej-775	40	18	for	for	ADP
alkej-775	40	19	mobile	mobile	ADJ
alkej-775	40	20	robots	robot	NOUN
alkej-775	40	21	,	,	PUNCT
alkej-775	40	22	by	by	ADP
alkej-775	40	23	creating	create	VERB
alkej-775	40	24	a	a	DET
alkej-775	40	25	graphical	graphical	ADJ
alkej-775	40	26	simulation	simulation	NOUN
alkej-775	40	27	interface	interface	NOUN
alkej-775	40	28	to	to	PART
alkej-775	40	29	test	test	VERB
alkej-775	40	30	and	and	CCONJ
alkej-775	40	31	examine	examine	VERB
alkej-775	40	32	the	the	DET
alkej-775	40	33	algorithm	algorithm	NOUN
alkej-775	40	34	's	's	PART
alkej-775	40	35	performance	performance	NOUN
alkej-775	40	36	by	by	ADP
alkej-775	40	37	looking	look	VERB
alkej-775	40	38	at	at	ADP
alkej-775	40	39	parameter	parameter	NOUN
alkej-775	40	40	settings	setting	NOUN
alkej-775	40	41	such	such	ADJ
alkej-775	40	42	as	as	ADP
alkej-775	40	43	(	(	PUNCT
alkej-775	40	44	number	number	NOUN
alkej-775	40	45	of	of	ADP
alkej-775	40	46	iterations	iteration	NOUN
alkej-775	40	47	and	and	CCONJ
alkej-775	40	48	population	population	NOUN
alkej-775	40	49	)	)	PUNCT
alkej-775	40	50	and	and	CCONJ
alkej-775	40	51	robot	robot	NOUN
alkej-775	40	52	operating	operating	NOUN
alkej-775	40	53	environments	environment	NOUN
alkej-775	40	54	(	(	PUNCT
alkej-775	40	55	number	number	NOUN
alkej-775	40	56	of	of	ADP
alkej-775	40	57	obstacles	obstacle	NOUN
alkej-775	40	58	)	)	PUNCT
alkej-775	40	59	.	.	PUNCT
alkej-775	41	1	according	accord	VERB
alkej-775	41	2	to	to	ADP
alkej-775	41	3	the	the	DET
alkej-775	41	4	simulation	simulation	NOUN
alkej-775	41	5	results	result	NOUN
alkej-775	41	6	,	,	PUNCT
alkej-775	41	7	a	a	DET
alkej-775	41	8	uniform	uniform	ADJ
alkej-775	41	9	increase	increase	NOUN
alkej-775	41	10	in	in	ADP
alkej-775	41	11	the	the	DET
alkej-775	41	12	number	number	NOUN
alkej-775	41	13	of	of	ADP
alkej-775	41	14	obstacles	obstacle	NOUN
alkej-775	41	15	is	be	AUX
alkej-775	41	16	primarily	primarily	ADV
alkej-775	41	17	overcome	overcome	VERB
alkej-775	41	18	by	by	ADP
alkej-775	41	19	a	a	DET
alkej-775	41	20	moderate	moderate	ADJ
alkej-775	41	21	increase	increase	NOUN
alkej-775	41	22	in	in	ADP
alkej-775	41	23	the	the	DET
alkej-775	41	24	ant	ant	ADJ
alkej-775	41	25	population	population	NOUN
alkej-775	41	26	,	,	PUNCT
alkej-775	41	27	to	to	PART
alkej-775	41	28	reduce	reduce	VERB
alkej-775	41	29	simulation	simulation	NOUN
alkej-775	41	30	time	time	NOUN
alkej-775	41	31	and	and	CCONJ
alkej-775	41	32	traveled	travel	VERB
alkej-775	41	33	path	path	NOUN
alkej-775	41	34	without	without	ADP
alkej-775	41	35	collision	collision	NOUN
alkej-775	41	36	with	with	ADP
alkej-775	41	37	obstacles	obstacle	NOUN
alkej-775	41	38	.	.	PUNCT
alkej-775	42	1	harshal	harshal	PROPN
alkej-775	42	2	s.	s.	PROPN
alkej-775	42	3	dewang	dewang	PROPN
alkej-775	42	4	et	et	PROPN
alkej-775	42	5	al	al	PROPN
alkej-775	42	6	.	.	PUNCT
alkej-775	43	1	[	[	X
alkej-775	43	2	9	9	NUM
alkej-775	43	3	]	]	SYM
alkej-775	43	4	(	(	PUNCT
alkej-775	43	5	2018	2018	NUM
alkej-775	43	6	)	)	PUNCT
alkej-775	43	7	proposed	propose	VERB
alkej-775	43	8	adaptive	adaptive	ADJ
alkej-775	43	9	particle	particle	NOUN
alkej-775	43	10	swarm	swarm	NOUN
alkej-775	43	11	optimization	optimization	NOUN
alkej-775	43	12	(	(	PUNCT
alkej-775	43	13	apso	apso	NOUN
alkej-775	43	14	)	)	PUNCT
alkej-775	43	15	for	for	ADP
alkej-775	43	16	getting	get	VERB
alkej-775	43	17	a	a	DET
alkej-775	43	18	solution	solution	NOUN
alkej-775	43	19	to	to	ADP
alkej-775	43	20	the	the	DET
alkej-775	43	21	mobile	mobile	ADJ
alkej-775	43	22	robot	robot	PROPN
alkej-775	43	23	path	path	PROPN
alkej-775	43	24	planning	planning	NOUN
alkej-775	43	25	problem	problem	NOUN
alkej-775	43	26	.	.	PUNCT
alkej-775	44	1	the	the	DET
alkej-775	44	2	adaptive	adaptive	ADJ
alkej-775	44	3	algorithm	algorithm	NOUN
alkej-775	44	4	was	be	AUX
alkej-775	44	5	tested	test	VERB
alkej-775	44	6	by	by	ADP
alkej-775	44	7	running	run	VERB
alkej-775	44	8	different	different	ADJ
alkej-775	44	9	simulated	simulated	ADJ
alkej-775	44	10	experiments	experiment	NOUN
alkej-775	44	11	in	in	ADP
alkej-775	44	12	several	several	ADJ
alkej-775	44	13	static	static	ADJ
alkej-775	44	14	environments	environment	NOUN
alkej-775	44	15	.	.	PUNCT
alkej-775	45	1	to	to	PART
alkej-775	45	2	evaluate	evaluate	VERB
alkej-775	45	3	apso	apso	NOUN
alkej-775	45	4	,	,	PUNCT
alkej-775	45	5	a	a	DET
alkej-775	45	6	comparison	comparison	NOUN
alkej-775	45	7	between	between	ADP
alkej-775	45	8	classical	classical	ADJ
alkej-775	45	9	pso	pso	NOUN
alkej-775	45	10	and	and	CCONJ
alkej-775	45	11	the	the	DET
alkej-775	45	12	proposed	propose	VERB
alkej-775	45	13	algorithm	algorithm	NOUN
alkej-775	45	14	has	have	AUX
alkej-775	45	15	been	be	AUX
alkej-775	45	16	carried	carry	VERB
alkej-775	45	17	out	out	ADP
alkej-775	45	18	based	base	VERB
alkej-775	45	19	on	on	ADP
alkej-775	45	20	two	two	NUM
alkej-775	45	21	parameters	parameter	NOUN
alkej-775	45	22	:	:	PUNCT
alkej-775	45	23	the	the	DET
alkej-775	45	24	running	running	ADJ
alkej-775	45	25	time	time	NOUN
alkej-775	45	26	of	of	ADP
alkej-775	45	27	the	the	DET
alkej-775	45	28	algorithm	algorithm	NOUN
alkej-775	45	29	and	and	CCONJ
alkej-775	45	30	path	path	NOUN
alkej-775	45	31	length	length	NOUN
alkej-775	45	32	.	.	PUNCT
alkej-775	46	1	the	the	DET
alkej-775	46	2	simulation	simulation	NOUN
alkej-775	46	3	results	result	NOUN
alkej-775	46	4	indicated	indicate	VERB
alkej-775	46	5	that	that	SCONJ
alkej-775	46	6	the	the	DET
alkej-775	46	7	apso	apso	NOUN
alkej-775	46	8	was	be	AUX
alkej-775	46	9	effective	effective	ADJ
alkej-775	46	10	in	in	ADP
alkej-775	46	11	the	the	DET
alkej-775	46	12	navigation	navigation	NOUN
alkej-775	46	13	process	process	NOUN
alkej-775	46	14	,	,	PUNCT
alkej-775	46	15	with	with	ADP
alkej-775	46	16	the	the	DET
alkej-775	46	17	shortest	short	ADJ
alkej-775	46	18	path	path	NOUN
alkej-775	46	19	and	and	CCONJ
alkej-775	46	20	less	less	ADV
alkej-775	46	21	computational	computational	ADJ
alkej-775	46	22	time	time	NOUN
alkej-775	46	23	compared	compare	VERB
alkej-775	46	24	to	to	ADP
alkej-775	46	25	classical	classical	ADJ
alkej-775	46	26	pso	pso	NOUN
alkej-775	46	27	.	.	PUNCT
alkej-775	47	1	rakaa	rakaa	PROPN
alkej-775	47	2	t.	t.	PROPN
alkej-775	47	3	kamil	kamil	PROPN
alkej-775	47	4	,	,	PUNCT
alkej-775	47	5	et	et	PROPN
alkej-775	47	6	al	al	PROPN
alkej-775	47	7	.	.	PUNCT
alkej-775	48	1	[	[	X
alkej-775	48	2	10	10	NUM
alkej-775	48	3	]	]	PUNCT
alkej-775	48	4	proposed	propose	VERB
alkej-775	48	5	a	a	DET
alkej-775	48	6	modified	modify	VERB
alkej-775	48	7	version	version	NOUN
alkej-775	48	8	of	of	ADP
alkej-775	48	9	the	the	DET
alkej-775	48	10	artificial	artificial	ADJ
alkej-775	48	11	bee	bee	NOUN
alkej-775	48	12	colony	colony	NOUN
alkej-775	48	13	(	(	PUNCT
alkej-775	48	14	abc	abc	PROPN
alkej-775	48	15	)	)	PUNCT
alkej-775	48	16	algorithm	algorithm	NOUN
alkej-775	48	17	,	,	PUNCT
alkej-775	48	18	namely	namely	ADV
alkej-775	48	19	adaptive	adaptive	ADJ
alkej-775	48	20	dimension	dimension	NOUN
alkej-775	48	21	limit	limit	VERB
alkej-775	48	22	artificial	artificial	ADJ
alkej-775	48	23	bee	bee	NOUN
alkej-775	48	24	colony	colony	NOUN
alkej-775	48	25	(	(	PUNCT
alkej-775	48	26	adl	adl	PROPN
alkej-775	48	27	-	-	PUNCT
alkej-775	48	28	abc	abc	PROPN
alkej-775	48	29	)	)	PUNCT
alkej-775	48	30	algorithm	algorithm	NOUN
alkej-775	48	31	to	to	PART
alkej-775	48	32	find	find	VERB
alkej-775	48	33	the	the	DET
alkej-775	48	34	best	good	ADJ
alkej-775	48	35	route	route	NOUN
alkej-775	48	36	with	with	ADP
alkej-775	48	37	circular	circular	ADJ
alkej-775	48	38	-	-	PUNCT
alkej-775	48	39	shaped	shape	VERB
alkej-775	48	40	static	static	ADJ
alkej-775	48	41	obstacles	obstacle	NOUN
alkej-775	48	42	in	in	ADP
alkej-775	48	43	the	the	DET
alkej-775	48	44	static	static	ADJ
alkej-775	48	45	environment	environment	NOUN
alkej-775	48	46	for	for	ADP
alkej-775	48	47	a	a	DET
alkej-775	48	48	mobile	mobile	ADJ
alkej-775	48	49	robot	robot	NOUN
alkej-775	48	50	.	.	PUNCT
alkej-775	49	1	two	two	NUM
alkej-775	49	2	tests	test	NOUN
alkej-775	49	3	(	(	PUNCT
alkej-775	49	4	or	or	CCONJ
alkej-775	49	5	cases	case	NOUN
alkej-775	49	6	)	)	PUNCT
alkej-775	49	7	are	be	AUX
alkej-775	49	8	applied	apply	VERB
alkej-775	49	9	in	in	ADP
alkej-775	49	10	this	this	DET
alkej-775	49	11	work	work	NOUN
alkej-775	49	12	to	to	PART
alkej-775	49	13	make	make	VERB
alkej-775	49	14	a	a	DET
alkej-775	49	15	comparison	comparison	NOUN
alkej-775	49	16	between	between	ADP
alkej-775	49	17	abc	abc	PROPN
alkej-775	49	18	and	and	CCONJ
alkej-775	49	19	adlabc	adlabc	VERB
alkej-775	49	20	algorithms	algorithm	NOUN
alkej-775	49	21	.	.	PUNCT
alkej-775	50	1	the	the	DET
alkej-775	50	2	simulation	simulation	NOUN
alkej-775	50	3	results	result	NOUN
alkej-775	50	4	showed	show	VERB
alkej-775	50	5	that	that	SCONJ
alkej-775	50	6	the	the	DET
alkej-775	50	7	adl	adl	PROPN
alkej-775	50	8	-	-	PUNCT
alkej-775	50	9	abc	abc	PROPN
alkej-775	50	10	was	be	AUX
alkej-775	50	11	better	well	ADJ
alkej-775	50	12	than	than	ADP
alkej-775	50	13	abc	abc	PROPN
alkej-775	50	14	in	in	ADP
alkej-775	50	15	finding	find	VERB
alkej-775	50	16	a	a	DET
alkej-775	50	17	short	short	ADJ
alkej-775	50	18	path	path	NOUN
alkej-775	50	19	with	with	ADP
alkej-775	50	20	a	a	DET
alkej-775	50	21	fewer	few	ADJ
alkej-775	50	22	number	number	NOUN
alkej-775	50	23	of	of	ADP
alkej-775	50	24	iterations	iteration	NOUN
alkej-775	50	25	and	and	CCONJ
alkej-775	50	26	less	less	ADV
alkej-775	50	27	computational	computational	ADJ
alkej-775	50	28	time	time	NOUN
alkej-775	50	29	.	.	PUNCT
alkej-775	51	1	fatin	fatin	PROPN
alkej-775	51	2	h	h	PROPN
alkej-775	51	3	ajeil	ajeil	PROPN
alkej-775	51	4	et	et	PROPN
alkej-775	51	5	al	al	PROPN
alkej-775	51	6	.	.	PUNCT
alkej-775	52	1	[	[	X
alkej-775	52	2	11	11	NUM
alkej-775	52	3	]	]	PUNCT
alkej-775	52	4	have	have	AUX
alkej-775	52	5	proposed	propose	VERB
alkej-775	52	6	the	the	DET
alkej-775	52	7	hybridization	hybridization	NOUN
alkej-775	52	8	of	of	ADP
alkej-775	52	9	particle	particle	NOUN
alkej-775	52	10	swarm	swarm	NOUN
alkej-775	52	11	optimization	optimization	NOUN
alkej-775	52	12	(	(	PUNCT
alkej-775	52	13	pso	pso	NOUN
alkej-775	52	14	)	)	PUNCT
alkej-775	52	15	and	and	CCONJ
alkej-775	52	16	modified	modify	VERB
alkej-775	52	17	frequency	frequency	NOUN
alkej-775	52	18	bat	bat	NOUN
alkej-775	52	19	algorithm	algorithm	NOUN
alkej-775	52	20	(	(	PUNCT
alkej-775	52	21	mfb	mfb	NOUN
alkej-775	52	22	)	)	PUNCT
alkej-775	52	23	for	for	ADP
alkej-775	52	24	the	the	DET
alkej-775	52	25	planning	planning	NOUN
alkej-775	52	26	of	of	ADP
alkej-775	52	27	the	the	DET
alkej-775	52	28	optimal	optimal	ADJ
alkej-775	52	29	path	path	NOUN
alkej-775	52	30	with	with	ADP
alkej-775	52	31	an	an	DET
alkej-775	52	32	obstacle	obstacle	NOUN
alkej-775	52	33	avoidance	avoidance	NOUN
alkej-775	52	34	strategy	strategy	NOUN
alkej-775	52	35	.	.	PUNCT
alkej-775	53	1	the	the	DET
alkej-775	53	2	overall	overall	ADJ
alkej-775	53	3	simulation	simulation	NOUN
alkej-775	53	4	results	result	NOUN
alkej-775	53	5	evaluated	evaluate	VERB
alkej-775	53	6	indicated	indicate	VERB
alkej-775	53	7	the	the	DET
alkej-775	53	8	efficacy	efficacy	NOUN
alkej-775	53	9	of	of	ADP
alkej-775	53	10	the	the	DET
alkej-775	53	11	proposed	propose	VERB
alkej-775	53	12	pso	pso	NOUN
alkej-775	53	13	-	-	PUNCT
alkej-775	53	14	mfb	mfb	NOUN
alkej-775	53	15	algorithm	algorithm	NOUN
alkej-775	53	16	in	in	ADP
alkej-775	53	17	static	static	ADJ
alkej-775	53	18	and	and	CCONJ
alkej-775	53	19	dynamic	dynamic	ADJ
alkej-775	53	20	environments	environment	NOUN
alkej-775	53	21	.	.	PUNCT
alkej-775	54	1	a.	a.	NOUN
alkej-775	54	2	mallikarjuna	mallikarjuna	PROPN
alkej-775	54	3	raoa	raoa	PROPN
alkej-775	54	4	et	et	PROPN
alkej-775	54	5	al	al	PROPN
alkej-775	54	6	.	.	PUNCT
alkej-775	55	1	[	[	X
alkej-775	55	2	12	12	NUM
alkej-775	55	3	]	]	PUNCT
alkej-775	55	4	proposed	propose	VERB
alkej-775	55	5	adapted	adapt	VERB
alkej-775	55	6	grey	grey	ADJ
alkej-775	55	7	wolf	wolf	PROPN
alkej-775	55	8	optimization	optimization	NOUN
alkej-775	55	9	(	(	PUNCT
alkej-775	55	10	gwo	gwo	NOUN
alkej-775	55	11	)	)	PUNCT
alkej-775	55	12	algorithm	algorithm	NOUN
alkej-775	55	13	to	to	ADP
alkej-775	55	14	robot	robot	NOUN
alkej-775	55	15	path	path	NOUN
alkej-775	55	16	planning	planning	NOUN
alkej-775	55	17	problems	problem	NOUN
alkej-775	55	18	.	.	PUNCT
alkej-775	56	1	the	the	DET
alkej-775	56	2	robot	robot	NOUN
alkej-775	56	3	path	path	NOUN
alkej-775	56	4	planning	planning	NOUN
alkej-775	56	5	was	be	AUX
alkej-775	56	6	implemented	implement	VERB
alkej-775	56	7	in	in	ADP
alkej-775	56	8	an	an	DET
alkej-775	56	9	environment	environment	NOUN
alkej-775	56	10	containing	contain	VERB
alkej-775	56	11	three	three	NUM
alkej-775	56	12	circular	circular	ADJ
alkej-775	56	13	shapes	shape	NOUN
alkej-775	56	14	.	.	PUNCT
alkej-775	57	1	the	the	DET
alkej-775	57	2	simulations	simulation	NOUN
alkej-775	57	3	of	of	ADP
alkej-775	57	4	the	the	DET
alkej-775	57	5	path	path	NOUN
alkej-775	57	6	planning	planning	NOUN
alkej-775	57	7	were	be	AUX
alkej-775	57	8	achieved	achieve	VERB
alkej-775	57	9	by	by	ADP
alkej-775	57	10	finding	find	VERB
alkej-775	57	11	three	three	NUM
alkej-775	57	12	points	point	NOUN
alkej-775	57	13	between	between	ADP
alkej-775	57	14	start	start	NOUN
alkej-775	57	15	,	,	PUNCT
alkej-775	57	16	target	target	NOUN
alkej-775	57	17	point	point	NOUN
alkej-775	57	18	.	.	PUNCT
alkej-775	58	1	during	during	ADP
alkej-775	58	2	each	each	DET
alkej-775	58	3	iteration	iteration	NOUN
alkej-775	58	4	,	,	PUNCT
alkej-775	58	5	these	these	DET
alkej-775	58	6	three	three	NUM
alkej-775	58	7	points	point	NOUN
alkej-775	58	8	are	be	AUX
alkej-775	58	9	updated	update	VERB
alkej-775	58	10	by	by	ADP
alkej-775	58	11	the	the	DET
alkej-775	58	12	gwo	gwo	PROPN
alkej-775	58	13	algorithm	algorithm	NOUN
alkej-775	58	14	.	.	PUNCT
alkej-775	59	1	if	if	SCONJ
alkej-775	59	2	the	the	DET
alkej-775	59	3	solution	solution	NOUN
alkej-775	59	4	point	point	NOUN
alkej-775	59	5	is	be	AUX
alkej-775	59	6	in	in	ADP
alkej-775	59	7	the	the	DET
alkej-775	59	8	obstacle	obstacle	NOUN
alkej-775	59	9	zone	zone	NOUN
alkej-775	59	10	,	,	PUNCT
alkej-775	59	11	then	then	ADV
alkej-775	59	12	the	the	DET
alkej-775	59	13	violation	violation	NOUN
alkej-775	59	14	is	be	AUX
alkej-775	59	15	added	add	VERB
alkej-775	59	16	to	to	ADP
alkej-775	59	17	the	the	DET
alkej-775	59	18	cost	cost	NOUN
alkej-775	59	19	function	function	NOUN
alkej-775	59	20	.	.	PUNCT
alkej-775	60	1	the	the	DET
alkej-775	60	2	results	result	NOUN
alkej-775	60	3	comparison	comparison	NOUN
alkej-775	60	4	show	show	VERB
alkej-775	60	5	that	that	SCONJ
alkej-775	60	6	the	the	DET
alkej-775	60	7	optimal	optimal	ADJ
alkej-775	60	8	path	path	NOUN
alkej-775	60	9	is	be	AUX
alkej-775	60	10	found	find	VERB
alkej-775	60	11	best	good	ADJ
alkej-775	60	12	results	result	NOUN
alkej-775	60	13	for	for	ADP
alkej-775	60	14	the	the	DET
alkej-775	60	15	user	user	NOUN
alkej-775	60	16	test	test	NOUN
alkej-775	60	17	environment	environment	NOUN
alkej-775	60	18	.	.	PUNCT
alkej-775	61	1	muna	muna	PROPN
alkej-775	61	2	mohammed	mohammed	PROPN
alkej-775	61	3	jawad	jawad	PROPN
alkej-775	61	4	,	,	PUNCT
alkej-775	61	5	and	and	CCONJ
alkej-775	61	6	esraa	esraa	PROPN
alkej-775	61	7	adnan	adnan	PROPN
alkej-775	61	8	hadi	hadi	PROPN
alkej-775	62	1	[	[	X
alkej-775	62	2	13	13	NUM
alkej-775	62	3	]	]	PUNCT
alkej-775	62	4	have	have	AUX
alkej-775	62	5	proposed	propose	VERB
alkej-775	62	6	the	the	DET
alkej-775	62	7	hybrid	hybrid	NOUN
alkej-775	62	8	(	(	PUNCT
alkej-775	62	9	ffcpso	ffcpso	NOUN
alkej-775	62	10	)	)	PUNCT
alkej-775	62	11	algorithm	algorithm	NOUN
alkej-775	62	12	to	to	ADP
alkej-775	62	13	the	the	DET
alkej-775	62	14	optimal	optimal	ADJ
alkej-775	62	15	path	path	NOUN
alkej-775	62	16	for	for	ADP
alkej-775	62	17	mobile	mobile	ADJ
alkej-775	62	18	robots	robot	NOUN
alkej-775	62	19	by	by	ADP
alkej-775	62	20	combining	combine	VERB
alkej-775	62	21	the	the	DET
alkej-775	62	22	advantages	advantage	NOUN
alkej-775	62	23	of	of	ADP
alkej-775	62	24	chaotic	chaotic	ADJ
alkej-775	62	25	pso	pso	NOUN
alkej-775	62	26	(	(	PUNCT
alkej-775	62	27	cpso	cpso	NOUN
alkej-775	62	28	)	)	PUNCT
alkej-775	62	29	,	,	PUNCT
alkej-775	62	30	and	and	CCONJ
alkej-775	62	31	firefly	firefly	NOUN
alkej-775	62	32	(	(	PUNCT
alkej-775	62	33	ff	ff	NOUN
alkej-775	62	34	)	)	PUNCT
alkej-775	62	35	to	to	PART
alkej-775	62	36	solve	solve	VERB
alkej-775	62	37	the	the	DET
alkej-775	62	38	global	global	ADJ
alkej-775	62	39	path	path	NOUN
alkej-775	62	40	-	-	PUNCT
alkej-775	62	41	planning	planning	NOUN
alkej-775	62	42	problem	problem	NOUN
alkej-775	62	43	for	for	ADP
alkej-775	62	44	the	the	DET
alkej-775	62	45	single	single	ADJ
alkej-775	62	46	and	and	CCONJ
alkej-775	62	47	multirobot	multirobot	NOUN
alkej-775	62	48	environment	environment	NOUN
alkej-775	62	49	.	.	PUNCT
alkej-775	63	1	the	the	DET
alkej-775	63	2	simulation	simulation	NOUN
alkej-775	63	3	results	result	NOUN
alkej-775	63	4	are	be	AUX
alkej-775	63	5	carried	carry	VERB
alkej-775	63	6	out	out	ADP
alkej-775	63	7	in	in	ADP
alkej-775	63	8	a	a	DET
alkej-775	63	9	matlab	matlab	PROPN
alkej-775	63	10	environment	environment	NOUN
alkej-775	63	11	.	.	PUNCT
alkej-775	64	1	the	the	DET
alkej-775	64	2	overall	overall	ADJ
alkej-775	64	3	evaluated	evaluated	ADJ
alkej-775	64	4	results	result	NOUN
alkej-775	64	5	indicated	indicate	VERB
alkej-775	64	6	that	that	SCONJ
alkej-775	64	7	the	the	DET
alkej-775	64	8	ffcpso	ffcpso	NOUN
alkej-775	64	9	is	be	AUX
alkej-775	64	10	a	a	DET
alkej-775	64	11	better	well	ADJ
alkej-775	64	12	choice	choice	NOUN
alkej-775	64	13	than	than	ADP
alkej-775	64	14	individuals	individual	NOUN
alkej-775	64	15	’	'	PUNCT
alkej-775	64	16	algorithms	algorithm	NOUN
alkej-775	64	17	(	(	PUNCT
alkej-775	64	18	pso	pso	NOUN
alkej-775	64	19	,	,	PUNCT
alkej-775	64	20	ff	ff	NOUN
alkej-775	64	21	)	)	PUNCT
alkej-775	64	22	.	.	PUNCT
alkej-775	65	1	try	try	VERB
alkej-775	65	2	researchers	researcher	NOUN
alkej-775	65	3	and	and	CCONJ
alkej-775	65	4	scientists	scientist	NOUN
alkej-775	65	5	have	have	AUX
alkej-775	65	6	developed	develop	VERB
alkej-775	65	7	several	several	ADJ
alkej-775	65	8	of	of	ADP
alkej-775	65	9	the	the	DET
alkej-775	65	10	strategies	strategy	NOUN
alkej-775	65	11	for	for	ADP
alkej-775	65	12	improved	improved	ADJ
alkej-775	65	13	path	path	NOUN
alkej-775	65	14	planning	planning	NOUN
alkej-775	65	15	of	of	ADP
alkej-775	65	16	the	the	DET
alkej-775	65	17	mobile	mobile	NOUN
alkej-775	65	18	robot	robot	NOUN
alkej-775	65	19	.	.	PUNCT
alkej-775	66	1	the	the	DET
alkej-775	66	2	strategy	strategy	NOUN
alkej-775	66	3	proposed	propose	VERB
alkej-775	66	4	in	in	ADP
alkej-775	66	5	this	this	DET
alkej-775	66	6	research	research	NOUN
alkej-775	66	7	for	for	ADP
alkej-775	66	8	improved	improved	ADJ
alkej-775	66	9	finding	find	VERB
alkej-775	66	10	the	the	DET
alkej-775	66	11	best	good	ADJ
alkej-775	66	12	and	and	CCONJ
alkej-775	66	13	safe	safe	ADJ
alkej-775	66	14	next	next	ADJ
alkej-775	66	15	position	position	NOUN
alkej-775	66	16	for	for	ADP
alkej-775	66	17	a	a	DET
alkej-775	66	18	mobile	mobile	ADJ
alkej-775	66	19	robot	robot	NOUN
alkej-775	66	20	depended	depend	VERB
alkej-775	66	21	on	on	ADP
alkej-775	66	22	the	the	DET
alkej-775	66	23	gwo	gwo	PROPN
alkej-775	66	24	algorithm	algorithm	NOUN
alkej-775	66	25	with	with	ADP
alkej-775	66	26	study	study	NOUN
alkej-775	66	27	the	the	DET
alkej-775	66	28	effects	effect	NOUN
alkej-775	66	29	of	of	ADP
alkej-775	66	30	the	the	DET
alkej-775	66	31	design	design	NOUN
alkej-775	66	32	parameters	parameter	NOUN
alkej-775	66	33	on	on	ADP
alkej-775	66	34	performance	performance	NOUN
alkej-775	66	35	for	for	ADP
alkej-775	66	36	the	the	DET
alkej-775	66	37	algorithm	algorithm	NOUN
alkej-775	66	38	to	to	PART
alkej-775	66	39	reduce	reduce	VERB
alkej-775	66	40	the	the	DET
alkej-775	66	41	total	total	ADJ
alkej-775	66	42	time	time	NOUN
alkej-775	66	43	for	for	ADP
alkej-775	66	44	the	the	DET
alkej-775	66	45	pathfinding	pathfinding	NOUN
alkej-775	66	46	in	in	ADP
alkej-775	66	47	various	various	ADJ
alkej-775	66	48	environments	environment	NOUN
alkej-775	66	49	.	.	PUNCT
alkej-775	67	1	tahseen	tahseen	PROPN
alkej-775	67	2	fadhil	fadhil	PROPN
alkej-775	67	3	abbas	abbas	PROPN
alkej-775	67	4	al	al	PROPN
alkej-775	67	5	-	-	PUNCT
alkej-775	67	6	khwarizmi	khwarizmi	PROPN
alkej-775	67	7	engineering	engineering	NOUN
alkej-775	67	8	journal	journal	PROPN
alkej-775	67	9	,	,	PUNCT
alkej-775	67	10	vol	vol	NOUN
alkej-775	67	11	.	.	PROPN
alkej-775	67	12	18	18	NUM
alkej-775	67	13	,	,	PUNCT
alkej-775	67	14	no	no	INTJ
alkej-775	67	15	.	.	NOUN
alkej-775	67	16	2	2	NUM
alkej-775	67	17	,	,	PUNCT
alkej-775	67	18	p.p	p.p	PROPN
alkej-775	67	19	.	.	NOUN
alkej-775	67	20	1328	1328	NUM
alkej-775	67	21	(	(	PUNCT
alkej-775	67	22	2022	2022	NUM
alkej-775	67	23	)	)	PUNCT
alkej-775	67	24	15	15	NUM
alkej-775	67	25	3	3	NUM
alkej-775	67	26	.	.	PUNCT
alkej-775	67	27	environment	environment	NOUN
alkej-775	67	28	model	model	NOUN
alkej-775	67	29	and	and	CCONJ
alkej-775	67	30	obstacle	obstacle	NOUN
alkej-775	67	31	extended	extend	VERB
alkej-775	67	32	the	the	DET
alkej-775	67	33	wmr	wmr	PROPN
alkej-775	67	34	environment	environment	NOUN
alkej-775	67	35	in	in	ADP
alkej-775	67	36	this	this	DET
alkej-775	67	37	research	research	NOUN
alkej-775	67	38	work	work	NOUN
alkej-775	67	39	contains	contain	VERB
alkej-775	67	40	many	many	ADJ
alkej-775	67	41	static	static	ADJ
alkej-775	67	42	obstacles	obstacle	NOUN
alkej-775	67	43	,	,	PUNCT
alkej-775	67	44	after	after	ADP
alkej-775	67	45	detection	detection	NOUN
alkej-775	67	46	and	and	CCONJ
alkej-775	67	47	processing	processing	NOUN
alkej-775	67	48	,	,	PUNCT
alkej-775	67	49	all	all	DET
alkej-775	67	50	obstacles	obstacle	NOUN
alkej-775	67	51	are	be	AUX
alkej-775	67	52	surrounded	surround	VERB
alkej-775	67	53	and	and	CCONJ
alkej-775	67	54	regulated	regulate	VERB
alkej-775	67	55	by	by	ADP
alkej-775	67	56	circle	circle	NOUN
alkej-775	67	57	shape	shape	NOUN
alkej-775	67	58	to	to	PART
alkej-775	67	59	reduce	reduce	VERB
alkej-775	67	60	the	the	DET
alkej-775	67	61	computation	computation	NOUN
alkej-775	67	62	complexity	complexity	NOUN
alkej-775	67	63	and	and	CCONJ
alkej-775	67	64	same	same	ADJ
alkej-775	67	65	time	time	NOUN
alkej-775	67	66	improve	improve	VERB
alkej-775	67	67	the	the	DET
alkej-775	67	68	measurement	measurement	NOUN
alkej-775	67	69	accuracy	accuracy	NOUN
alkej-775	67	70	of	of	ADP
alkej-775	67	71	the	the	DET
alkej-775	67	72	system	system	NOUN
alkej-775	67	73	.	.	PUNCT
alkej-775	68	1	in	in	ADP
alkej-775	68	2	this	this	DET
alkej-775	68	3	process	process	NOUN
alkej-775	68	4	,	,	PUNCT
alkej-775	68	5	to	to	PART
alkej-775	68	6	ensure	ensure	VERB
alkej-775	68	7	wmr	wmr	PROPN
alkej-775	68	8	safety	safety	NOUN
alkej-775	68	9	when	when	SCONJ
alkej-775	68	10	attempting	attempt	VERB
alkej-775	68	11	mobility	mobility	NOUN
alkej-775	68	12	in	in	ADP
alkej-775	68	13	the	the	DET
alkej-775	68	14	environment	environment	NOUN
alkej-775	68	15	,	,	PUNCT
alkej-775	68	16	the	the	DET
alkej-775	68	17	obstacle	obstacle	NOUN
alkej-775	68	18	size	size	NOUN
alkej-775	68	19	will	will	AUX
alkej-775	68	20	be	be	AUX
alkej-775	68	21	increased	increase	VERB
alkej-775	68	22	by	by	ADP
alkej-775	68	23	adding	add	VERB
alkej-775	68	24	a	a	DET
alkej-775	68	25	safety	safety	NOUN
alkej-775	68	26	distance	distance	NOUN
alkej-775	68	27	value	value	NOUN
alkej-775	68	28	,	,	PUNCT
alkej-775	68	29	as	as	SCONJ
alkej-775	68	30	shown	show	VERB
alkej-775	68	31	in	in	ADP
alkej-775	68	32	figure	figure	NOUN
alkej-775	68	33	1	1	NUM
alkej-775	68	34	.	.	PUNCT
alkej-775	69	1	after	after	ADP
alkej-775	69	2	creating	create	VERB
alkej-775	69	3	a	a	DET
alkej-775	69	4	2d	2d	NUM
alkej-775	69	5	map	map	NOUN
alkej-775	69	6	with	with	ADP
alkej-775	69	7	a	a	DET
alkej-775	69	8	start	start	NOUN
alkej-775	69	9	,	,	PUNCT
alkej-775	69	10	destination	destination	NOUN
alkej-775	69	11	point	point	NOUN
alkej-775	69	12	,	,	PUNCT
alkej-775	69	13	and	and	CCONJ
alkej-775	69	14	obstacles	obstacle	NOUN
alkej-775	69	15	,	,	PUNCT
alkej-775	69	16	it	it	PRON
alkej-775	69	17	's	be	AUX
alkej-775	69	18	used	use	VERB
alkej-775	69	19	to	to	PART
alkej-775	69	20	construct	construct	VERB
alkej-775	69	21	wmr	wmr	PROPN
alkej-775	69	22	movement	movement	NOUN
alkej-775	69	23	.	.	PUNCT
alkej-775	70	1	wmr	wmr	PROPN
alkej-775	70	2	is	be	AUX
alkej-775	70	3	represented	represent	VERB
alkej-775	70	4	in	in	ADP
alkej-775	70	5	this	this	DET
alkej-775	70	6	map	map	NOUN
alkej-775	70	7	as	as	ADP
alkej-775	70	8	a	a	DET
alkej-775	70	9	point	point	NOUN
alkej-775	70	10	by	by	ADP
alkej-775	70	11	a	a	DET
alkej-775	70	12	collection	collection	NOUN
alkej-775	70	13	of	of	ADP
alkej-775	70	14	cartesian	cartesian	ADJ
alkej-775	70	15	coordinate	coordinate	NOUN
alkej-775	70	16	positions	position	NOUN
alkej-775	70	17	(	(	PUNCT
alkej-775	70	18	x	x	X
alkej-775	70	19	,	,	PUNCT
alkej-775	70	20	y	y	PROPN
alkej-775	70	21	)	)	PUNCT
alkej-775	70	22	.	.	PUNCT
alkej-775	71	1	fig	fig	NOUN
alkej-775	71	2	.	.	PUNCT
alkej-775	72	1	1	1	X
alkej-775	72	2	.	.	X
alkej-775	72	3	increase	increase	VERB
alkej-775	72	4	the	the	DET
alkej-775	72	5	size	size	NOUN
alkej-775	72	6	of	of	ADP
alkej-775	72	7	the	the	DET
alkej-775	72	8	obstacles	obstacle	NOUN
alkej-775	72	9	.	.	PUNCT
alkej-775	73	1	4	4	X
alkej-775	73	2	.	.	X
alkej-775	73	3	fitness	fitness	NOUN
alkej-775	73	4	function	function	NOUN
alkej-775	73	5	and	and	CCONJ
alkej-775	73	6	selection	selection	NOUN
alkej-775	73	7	the	the	DET
alkej-775	73	8	goal	goal	NOUN
alkej-775	73	9	of	of	ADP
alkej-775	73	10	the	the	DET
alkej-775	73	11	path	path	NOUN
alkej-775	73	12	planning	planning	NOUN
alkej-775	73	13	issue	issue	NOUN
alkej-775	73	14	is	be	AUX
alkej-775	73	15	to	to	PART
alkej-775	73	16	discover	discover	VERB
alkej-775	73	17	the	the	DET
alkej-775	73	18	best	good	ADJ
alkej-775	73	19	route	route	NOUN
alkej-775	73	20	between	between	ADP
alkej-775	73	21	a	a	DET
alkej-775	73	22	beginning	beginning	NOUN
alkej-775	73	23	point	point	NOUN
alkej-775	73	24	and	and	CCONJ
alkej-775	73	25	a	a	DET
alkej-775	73	26	target	target	NOUN
alkej-775	73	27	point	point	NOUN
alkej-775	73	28	.	.	PUNCT
alkej-775	74	1	the	the	DET
alkej-775	74	2	best	good	ADJ
alkej-775	74	3	road	road	NOUN
alkej-775	74	4	to	to	PART
alkej-775	74	5	take	take	VERB
alkej-775	74	6	may	may	AUX
alkej-775	74	7	be	be	AUX
alkej-775	74	8	the	the	DET
alkej-775	74	9	one	one	NOUN
alkej-775	74	10	that	that	PRON
alkej-775	74	11	is	be	AUX
alkej-775	74	12	the	the	DET
alkej-775	74	13	shortest	short	ADJ
alkej-775	74	14	takes	take	VERB
alkej-775	74	15	the	the	DET
alkej-775	74	16	least	least	ADJ
alkej-775	74	17	amount	amount	NOUN
alkej-775	74	18	of	of	ADP
alkej-775	74	19	time	time	NOUN
alkej-775	74	20	and	and	CCONJ
alkej-775	74	21	uses	use	VERB
alkej-775	74	22	the	the	DET
alkej-775	74	23	least	least	ADJ
alkej-775	74	24	amount	amount	NOUN
alkej-775	74	25	of	of	ADP
alkej-775	74	26	energy	energy	NOUN
alkej-775	74	27	.	.	PUNCT
alkej-775	75	1	in	in	ADP
alkej-775	75	2	most	most	ADJ
alkej-775	75	3	path	path	NOUN
alkej-775	75	4	planning	planning	NOUN
alkej-775	75	5	issues	issue	NOUN
alkej-775	75	6	,	,	PUNCT
alkej-775	75	7	the	the	DET
alkej-775	75	8	shortest	short	ADJ
alkej-775	75	9	path	path	NOUN
alkej-775	75	10	is	be	AUX
alkej-775	75	11	considered	consider	VERB
alkej-775	75	12	the	the	DET
alkej-775	75	13	goal	goal	NOUN
alkej-775	75	14	function	function	NOUN
alkej-775	75	15	.	.	PUNCT
alkej-775	76	1	the	the	DET
alkej-775	76	2	x	x	PROPN
alkej-775	76	3	-	-	PUNCT
alkej-775	76	4	y	y	PROPN
alkej-775	76	5	coordinates	coordinate	NOUN
alkej-775	76	6	of	of	ADP
alkej-775	76	7	the	the	DET
alkej-775	76	8	mobile	mobile	ADJ
alkej-775	76	9	robot	robot	NOUN
alkej-775	76	10	change	change	NOUN
alkej-775	76	11	once	once	SCONJ
alkej-775	76	12	it	it	PRON
alkej-775	76	13	moves	move	VERB
alkej-775	76	14	from	from	ADP
alkej-775	76	15	one	one	NUM
alkej-775	76	16	spot	spot	NOUN
alkej-775	76	17	to	to	ADP
alkej-775	76	18	the	the	DET
alkej-775	76	19	next	next	ADJ
alkej-775	76	20	.	.	PUNCT
alkej-775	77	1	in	in	ADP
alkej-775	77	2	this	this	DET
alkej-775	77	3	study	study	NOUN
alkej-775	77	4	,	,	PUNCT
alkej-775	77	5	the	the	DET
alkej-775	77	6	objective	objective	ADJ
alkej-775	77	7	function	function	NOUN
alkej-775	77	8	value	value	NOUN
alkej-775	77	9	for	for	ADP
alkej-775	77	10	each	each	DET
alkej-775	77	11	particle/	particle/	NUM
alkej-775	77	12	agent	agent	NOUN
alkej-775	77	13	used	use	VERB
alkej-775	77	14	is	be	AUX
alkej-775	77	15	given	give	VERB
alkej-775	77	16	in	in	ADP
alkej-775	77	17	eq	eq	ADP
alkej-775	77	18	.	.	PUNCT
alkej-775	78	1	(	(	PUNCT
alkej-775	78	2	1	1	X
alkej-775	78	3	)	)	PUNCT
alkej-775	78	4	�	�	PROPN
alkej-775	78	5	�	�	PROPN
alkej-775	78	6	�	�	PROPN
alkej-775	78	7	�	�	PROPN
alkej-775	78	8	=	=	SYM
alkej-775	78	9	⎩⎪	⎩⎪	PUNCT
alkej-775	78	10	⎨	⎨	PROPN
alkej-775	78	11	⎪⎧	⎪⎧	NOUN
alkej-775	78	12	�	�	PROPN
alkej-775	78	13	�	�	PROPN
alkej-775	78	14	�	�	PROPN
alkej-775	78	15	�	�	PROPN
alkej-775	78	16	−	−	PROPN
alkej-775	78	17	�	�	PROPN
alkej-775	78	18	�	�	PROPN
alkej-775	78	19	+	+	CCONJ
alkej-775	78	20	�	�	PROPN
alkej-775	78	21	�	�	PROPN
alkej-775	78	22	�	�	PROPN
alkej-775	78	23	+	+	CCONJ
alkej-775	78	24	�	�	PROPN
alkej-775	78	25	�	�	PROPN
alkej-775	78	26	�	�	PROPN
alkej-775	78	27	�	�	PROPN
alkej-775	78	28	−	−	PROPN
alkej-775	78	29	�	�	PROPN
alkej-775	78	30	�	�	PROPN
alkej-775	78	31	�	�	PROPN
alkej-775	78	32	+	+	SYM
alkej-775	78	33	�	�	PROPN
alkej-775	78	34	�	�	PROPN
alkej-775	78	35	�	�	PROPN
alkej-775	78	36	�	�	PROPN
alkej-775	78	37	for	for	ADP
alkej-775	78	38	feasible	feasible	ADJ
alkej-775	78	39	paths	path	NOUN
alkej-775	78	40	�	�	PROPN
alkej-775	78	41	�	�	PROPN
alkej-775	78	42	�	�	PROPN
alkej-775	78	43	�	�	PROPN
alkej-775	78	44	�	�	PROPN
alkej-775	78	45	−	−	PROPN
alkej-775	78	46	�	�	PROPN
alkej-775	78	47	�	�	PROPN
alkej-775	78	48	+	+	CCONJ
alkej-775	78	49	�	�	PROPN
alkej-775	78	50	�	�	PROPN
alkej-775	78	51	�	�	PROPN
alkej-775	78	52	+	+	CCONJ
alkej-775	78	53	�	�	PROPN
alkej-775	78	54	�	�	PROPN
alkej-775	78	55	�	�	PROPN
alkej-775	78	56	�	�	PROPN
alkej-775	78	57	−	−	PROPN
alkej-775	78	58	�	�	PROPN
alkej-775	78	59	�	�	PROPN
alkej-775	78	60	�	�	PROPN
alkej-775	78	61	+	+	CCONJ
alkej-775	78	62	�	�	PROPN
alkej-775	78	63	�	�	PROPN
alkej-775	78	64	�	�	PROPN
alkej-775	78	65	+	+	SYM
alkej-775	78	66	!	!	PUNCT
alkej-775	79	1	"	"	PUNCT
alkej-775	79	2	#	#	SYM
alkej-775	79	3	$	$	NUM
alkej-775	79	4	%	%	NOUN
alkej-775	79	5	&	&	CCONJ
alkej-775	79	6	�	�	PROPN
alkej-775	79	7	for	for	ADP
alkej-775	79	8	infeasible	infeasible	ADJ
alkej-775	79	9	paths	path	NOUN
alkej-775	79	10	�	�	NOUN
alkej-775	79	11	…	…	PUNCT
alkej-775	79	12	(	(	PUNCT
alkej-775	79	13	1	1	NUM
alkej-775	79	14	)	)	PUNCT
alkej-775	79	15	where	where	SCONJ
alkej-775	79	16	;	;	PUNCT
alkej-775	79	17	f	f	PROPN
alkej-775	79	18	(	(	PUNCT
alkej-775	79	19	i	i	NOUN
alkej-775	79	20	)	)	PUNCT
alkej-775	79	21	is	be	AUX
alkej-775	79	22	the	the	DET
alkej-775	79	23	fitness	fitness	NOUN
alkej-775	79	24	function	function	NOUN
alkej-775	79	25	of	of	ADP
alkej-775	79	26	the	the	DET
alkej-775	79	27	summation	summation	NOUN
alkej-775	79	28	distance	distance	NOUN
alkej-775	79	29	between	between	ADP
alkej-775	79	30	path	path	NOUN
alkej-775	79	31	points	point	NOUN
alkej-775	79	32	,	,	PUNCT
alkej-775	79	33	�	�	PROPN
alkej-775	79	34	�	�	PROPN
alkej-775	79	35	and	and	CCONJ
alkej-775	79	36	�	�	PROPN
alkej-775	79	37	�	�	PROPN
alkej-775	79	38	�	�	PROPN
alkej-775	79	39	is	be	AUX
alkej-775	79	40	robot	robot	NOUN
alkej-775	79	41	’s	’s	PART
alkej-775	79	42	current	current	ADJ
alkej-775	79	43	position	position	NOUN
alkej-775	79	44	,	,	PUNCT
alkej-775	79	45	�	�	PROPN
alkej-775	79	46	�	�	PROPN
alkej-775	79	47	+	+	CCONJ
alkej-775	79	48	�	�	PROPN
alkej-775	79	49	and	and	CCONJ
alkej-775	79	50	�	�	PROPN
alkej-775	79	51	�	�	PROPN
alkej-775	79	52	�	�	PROPN
alkej-775	79	53	+	+	CCONJ
alkej-775	79	54	�	�	PROPN
alkej-775	79	55	is	be	AUX
alkej-775	79	56	the	the	DET
alkej-775	79	57	robot	robot	NOUN
alkej-775	79	58	’s	’s	PART
alkej-775	79	59	next	next	ADJ
alkej-775	79	60	position	position	NOUN
alkej-775	79	61	.	.	PUNCT
alkej-775	80	1	5	5	X
alkej-775	80	2	.	.	X
alkej-775	80	3	grey	grey	PROPN
alkej-775	80	4	wolf	wolf	PROPN
alkej-775	80	5	optimization	optimization	NOUN
alkej-775	80	6	(	(	PUNCT
alkej-775	80	7	gwo	gwo	PROPN
alkej-775	80	8	)	)	PUNCT
alkej-775	80	9	the	the	DET
alkej-775	80	10	gwo	gwo	PROPN
alkej-775	80	11	method	method	NOUN
alkej-775	80	12	,	,	PUNCT
alkej-775	80	13	proposed	propose	VERB
alkej-775	80	14	by	by	ADP
alkej-775	80	15	mirjalili	mirjalili	PROPN
alkej-775	80	16	et	et	PROPN
alkej-775	80	17	al	al	PROPN
alkej-775	80	18	.	.	PUNCT
alkej-775	81	1	[	[	X
alkej-775	81	2	14	14	NUM
alkej-775	81	3	]	]	PUNCT
alkej-775	81	4	,	,	PUNCT
alkej-775	81	5	is	be	AUX
alkej-775	81	6	a	a	DET
alkej-775	81	7	newcomer	newcomer	NOUN
alkej-775	81	8	in	in	ADP
alkej-775	81	9	the	the	DET
alkej-775	81	10	field	field	NOUN
alkej-775	81	11	of	of	ADP
alkej-775	81	12	nature	nature	NOUN
alkej-775	81	13	-	-	PUNCT
alkej-775	81	14	inspired	inspire	VERB
alkej-775	81	15	optimization	optimization	NOUN
alkej-775	81	16	algorithms	algorithm	NOUN
alkej-775	81	17	.	.	PUNCT
alkej-775	82	1	grey	grey	ADJ
alkej-775	82	2	wolves	wolf	NOUN
alkej-775	82	3	'	'	PART
alkej-775	82	4	hunting	hunting	NOUN
alkej-775	82	5	tactics	tactic	NOUN
alkej-775	82	6	and	and	CCONJ
alkej-775	82	7	social	social	ADJ
alkej-775	82	8	order	order	NOUN
alkej-775	82	9	are	be	AUX
alkej-775	82	10	used	use	VERB
alkej-775	82	11	to	to	PART
alkej-775	82	12	create	create	VERB
alkej-775	82	13	the	the	DET
alkej-775	82	14	grey	grey	ADJ
alkej-775	82	15	wolf	wolf	NOUN
alkej-775	82	16	optimizer	optimizer	NOUN
alkej-775	82	17	(	(	PUNCT
alkej-775	82	18	gwo	gwo	PROPN
alkej-775	82	19	)	)	PUNCT
alkej-775	82	20	.	.	PUNCT
alkej-775	83	1	grey	grey	ADJ
alkej-775	83	2	wolves	wolf	NOUN
alkej-775	83	3	are	be	AUX
alkej-775	83	4	divided	divide	VERB
alkej-775	83	5	into	into	ADP
alkej-775	83	6	four	four	NUM
alkej-775	83	7	groups	group	NOUN
alkej-775	83	8	:	:	PUNCT
alkej-775	83	9	alpha	alpha	NOUN
alkej-775	83	10	,	,	PUNCT
alkej-775	83	11	beta	beta	NOUN
alkej-775	83	12	,	,	PUNCT
alkej-775	83	13	delta	delta	NOUN
alkej-775	83	14	,	,	PUNCT
alkej-775	83	15	and	and	CCONJ
alkej-775	83	16	omega	omega	NOUN
alkej-775	83	17	wolves	wolf	NOUN
alkej-775	83	18	,	,	PUNCT
alkej-775	83	19	according	accord	VERB
alkej-775	83	20	to	to	ADP
alkej-775	83	21	the	the	DET
alkej-775	83	22	hierarchy	hierarchy	NOUN
alkej-775	83	23	.	.	PUNCT
alkej-775	84	1	the	the	DET
alkej-775	84	2	alpha	alpha	NOUN
alkej-775	84	3	wolf	wolf	PROPN
alkej-775	84	4	is	be	AUX
alkej-775	84	5	the	the	DET
alkej-775	84	6	group	group	NOUN
alkej-775	84	7	's	's	PART
alkej-775	84	8	leader	leader	NOUN
alkej-775	84	9	or	or	CCONJ
alkej-775	84	10	dominant	dominant	ADJ
alkej-775	84	11	wolf	wolf	NOUN
alkej-775	84	12	,	,	PUNCT
alkej-775	84	13	and	and	CCONJ
alkej-775	84	14	alpha	alpha	ADJ
alkej-775	84	15	wolves	wolf	NOUN
alkej-775	84	16	follow	follow	VERB
alkej-775	84	17	the	the	DET
alkej-775	84	18	other	other	ADJ
alkej-775	84	19	wolves	wolf	NOUN
alkej-775	84	20	in	in	ADP
alkej-775	84	21	the	the	DET
alkej-775	84	22	pack	pack	NOUN
alkej-775	84	23	.	.	PUNCT
alkej-775	85	1	the	the	DET
alkej-775	85	2	alpha	alpha	NOUN
alkej-775	85	3	is	be	AUX
alkej-775	85	4	the	the	DET
alkej-775	85	5	best	good	ADJ
alkej-775	85	6	wolf	wolf	NOUN
alkej-775	85	7	in	in	ADP
alkej-775	85	8	terms	term	NOUN
alkej-775	85	9	of	of	ADP
alkej-775	85	10	managing	manage	VERB
alkej-775	85	11	the	the	DET
alkej-775	85	12	group	group	NOUN
alkej-775	85	13	.	.	PUNCT
alkej-775	86	1	beta	beta	ADJ
alkej-775	86	2	wolf	wolf	PROPN
alkej-775	86	3	is	be	AUX
alkej-775	86	4	the	the	DET
alkej-775	86	5	second	second	ADJ
alkej-775	86	6	in	in	ADP
alkej-775	86	7	the	the	DET
alkej-775	86	8	wolf	wolf	PROPN
alkej-775	86	9	group	group	NOUN
alkej-775	86	10	's	's	PART
alkej-775	86	11	social	social	ADJ
alkej-775	86	12	structure	structure	NOUN
alkej-775	86	13	.	.	PUNCT
alkej-775	87	1	beta	beta	ADJ
alkej-775	87	2	assists	assist	NOUN
alkej-775	87	3	the	the	DET
alkej-775	87	4	alpha	alpha	ADJ
alkej-775	87	5	wolf	wolf	NOUN
alkej-775	87	6	in	in	ADP
alkej-775	87	7	a	a	DET
alkej-775	87	8	variety	variety	NOUN
alkej-775	87	9	of	of	ADP
alkej-775	87	10	duties	duty	NOUN
alkej-775	87	11	.	.	PUNCT
alkej-775	88	1	the	the	DET
alkej-775	88	2	delta	delta	NOUN
alkej-775	88	3	wolf	wolf	PROPN
alkej-775	88	4	must	must	AUX
alkej-775	88	5	subordinate	subordinate	VERB
alkej-775	88	6	to	to	ADP
alkej-775	88	7	the	the	DET
alkej-775	88	8	alpha	alpha	NOUN
alkej-775	88	9	and	and	CCONJ
alkej-775	88	10	beta	beta	ADJ
alkej-775	88	11	wolves	wolf	NOUN
alkej-775	88	12	,	,	PUNCT
alkej-775	88	13	but	but	CCONJ
alkej-775	88	14	the	the	DET
alkej-775	88	15	omega	omega	NOUN
alkej-775	88	16	wolves	wolf	NOUN
alkej-775	88	17	are	be	AUX
alkej-775	88	18	judged	judge	VERB
alkej-775	88	19	by	by	ADP
alkej-775	88	20	the	the	DET
alkej-775	88	21	delta	delta	NOUN
alkej-775	88	22	wolf	wolf	PROPN
alkej-775	89	1	[	[	X
alkej-775	89	2	14	14	NUM
alkej-775	89	3	]	]	PUNCT
alkej-775	89	4	.	.	PUNCT
alkej-775	90	1	grey	grey	ADJ
alkej-775	90	2	wolves	wolf	NOUN
alkej-775	90	3	'	'	PART
alkej-775	90	4	collective	collective	ADJ
alkej-775	90	5	hunting	hunting	NOUN
alkej-775	90	6	method	method	NOUN
alkej-775	90	7	is	be	AUX
alkej-775	90	8	another	another	DET
alkej-775	90	9	fascinating	fascinating	ADJ
alkej-775	90	10	social	social	ADJ
alkej-775	90	11	characteristic	characteristic	NOUN
alkej-775	90	12	.	.	PUNCT
alkej-775	91	1	the	the	DET
alkej-775	91	2	grey	grey	ADJ
alkej-775	91	3	wolves	wolf	NOUN
alkej-775	91	4	use	use	VERB
alkej-775	91	5	the	the	DET
alkej-775	91	6	approach	approach	NOUN
alkej-775	91	7	to	to	PART
alkej-775	91	8	first	first	ADV
alkej-775	91	9	detect	detect	VERB
alkej-775	91	10	the	the	DET
alkej-775	91	11	location	location	NOUN
alkej-775	91	12	of	of	ADP
alkej-775	91	13	prey	prey	NOUN
alkej-775	91	14	(	(	PUNCT
alkej-775	91	15	solution	solution	NOUN
alkej-775	91	16	)	)	PUNCT
alkej-775	91	17	and	and	CCONJ
alkej-775	91	18	then	then	ADV
alkej-775	91	19	encircle	encircle	VERB
alkej-775	91	20	it	it	PRON
alkej-775	91	21	under	under	ADP
alkej-775	91	22	the	the	DET
alkej-775	91	23	guide	guide	NOUN
alkej-775	91	24	of	of	ADP
alkej-775	91	25	the	the	DET
alkej-775	91	26	alpha	alpha	ADJ
alkej-775	91	27	wolf	wolf	NOUN
alkej-775	91	28	.	.	PUNCT
alkej-775	92	1	in	in	ADP
alkej-775	92	2	a	a	DET
alkej-775	92	3	mathematical	mathematical	ADJ
alkej-775	92	4	model	model	NOUN
alkej-775	92	5	of	of	ADP
alkej-775	92	6	grey	grey	PROPN
alkej-775	92	7	wolf	wolf	PROPN
alkej-775	92	8	hunting	hunt	VERB
alkej-775	92	9	strategy	strategy	NOUN
alkej-775	92	10	,	,	PUNCT
alkej-775	92	11	the	the	DET
alkej-775	92	12	alpha	alpha	NOUN
alkej-775	92	13	,	,	PUNCT
alkej-775	92	14	beta	beta	NOUN
alkej-775	92	15	,	,	PUNCT
alkej-775	92	16	and	and	CCONJ
alkej-775	92	17	delta	delta	NOUN
alkej-775	92	18	wolves	wolf	NOUN
alkej-775	92	19	are	be	AUX
alkej-775	92	20	assumed	assume	VERB
alkej-775	92	21	to	to	PART
alkej-775	92	22	have	have	VERB
alkej-775	92	23	a	a	DET
alkej-775	92	24	greater	great	ADJ
alkej-775	92	25	understanding	understanding	NOUN
alkej-775	92	26	of	of	ADP
alkej-775	92	27	probable	probable	ADJ
alkej-775	92	28	prey	prey	NOUN
alkej-775	92	29	locations	location	NOUN
alkej-775	92	30	.	.	PUNCT
alkej-775	93	1	as	as	ADP
alkej-775	93	2	a	a	DET
alkej-775	93	3	consequence	consequence	NOUN
alkej-775	93	4	,	,	PUNCT
alkej-775	93	5	the	the	DET
alkej-775	93	6	gwo	gwo	PROPN
alkej-775	93	7	algorithm	algorithm	PROPN
alkej-775	93	8	updates	update	VERB
alkej-775	93	9	the	the	DET
alkej-775	93	10	locations	location	NOUN
alkej-775	93	11	of	of	ADP
alkej-775	93	12	wolves	wolf	NOUN
alkej-775	93	13	using	use	VERB
alkej-775	93	14	the	the	DET
alkej-775	93	15	first	first	ADJ
alkej-775	93	16	three	three	NUM
alkej-775	93	17	best	good	ADJ
alkej-775	93	18	solutions	solution	NOUN
alkej-775	93	19	(	(	PUNCT
alkej-775	93	20	alpha	alpha	NOUN
alkej-775	93	21	,	,	PUNCT
alkej-775	93	22	beta	beta	NOUN
alkej-775	93	23	,	,	PUNCT
alkej-775	93	24	and	and	CCONJ
alkej-775	93	25	delta	delta	NOUN
alkej-775	93	26	)	)	PUNCT
alkej-775	93	27	,	,	PUNCT
alkej-775	93	28	figure.2	figure.2	PROPN
alkej-775	93	29	,	,	PUNCT
alkej-775	93	30	showing	show	VERB
alkej-775	93	31	a	a	DET
alkej-775	93	32	flowchart	flowchart	NOUN
alkej-775	93	33	of	of	ADP
alkej-775	93	34	the	the	DET
alkej-775	93	35	gwo	gwo	PROPN
alkej-775	93	36	algorithm	algorithm	NOUN
alkej-775	93	37	.	.	PUNCT
alkej-775	94	1	in	in	ADP
alkej-775	94	2	the	the	DET
alkej-775	94	3	gwo	gwo	PROPN
alkej-775	94	4	code	code	PROPN
alkej-775	94	5	,	,	PUNCT
alkej-775	94	6	there	there	PRON
alkej-775	94	7	are	be	VERB
alkej-775	94	8	no	no	DET
alkej-775	94	9	omega	omega	NOUN
alkej-775	94	10	wolves	wolf	NOUN
alkej-775	94	11	.	.	PUNCT
alkej-775	95	1	tahseen	tahseen	PROPN
alkej-775	95	2	fadhil	fadhil	PROPN
alkej-775	95	3	abbas	abbas	PROPN
alkej-775	95	4	al	al	PROPN
alkej-775	95	5	-	-	PUNCT
alkej-775	95	6	khwarizmi	khwarizmi	PROPN
alkej-775	95	7	engineering	engineering	NOUN
alkej-775	95	8	journal	journal	PROPN
alkej-775	95	9	,	,	PUNCT
alkej-775	95	10	vol	vol	NOUN
alkej-775	95	11	.	.	PROPN
alkej-775	95	12	18	18	NUM
alkej-775	95	13	,	,	PUNCT
alkej-775	95	14	no	no	INTJ
alkej-775	95	15	.	.	NOUN
alkej-775	95	16	2	2	NUM
alkej-775	95	17	,	,	PUNCT
alkej-775	95	18	p.p	p.p	PROPN
alkej-775	95	19	.	.	NOUN
alkej-775	95	20	1328	1328	NUM
alkej-775	95	21	(	(	PUNCT
alkej-775	95	22	2022	2022	NUM
alkej-775	95	23	)	)	PUNCT
alkej-775	95	24	16	16	NUM
alkej-775	95	25	fig	fig	NOUN
alkej-775	95	26	.	.	PUNCT
alkej-775	96	1	2	2	X
alkej-775	96	2	.	.	X
alkej-775	96	3	flowchart	flowchart	NOUN
alkej-775	96	4	of	of	ADP
alkej-775	96	5	path	path	NOUN
alkej-775	96	6	planning	planning	NOUN
alkej-775	96	7	based	base	VERB
alkej-775	96	8	on	on	ADP
alkej-775	96	9	gwo	gwo	PROPN
alkej-775	96	10	algorithm	algorithm	PROPN
alkej-775	97	1	[	[	X
alkej-775	97	2	15	15	NUM
alkej-775	97	3	]	]	PUNCT
alkej-775	97	4	.	.	PUNCT
alkej-775	98	1	the	the	DET
alkej-775	98	2	following	follow	VERB
alkej-775	98	3	is	be	AUX
alkej-775	98	4	a	a	DET
alkej-775	98	5	mathematical	mathematical	ADJ
alkej-775	98	6	model	model	NOUN
alkej-775	98	7	of	of	ADP
alkej-775	98	8	the	the	DET
alkej-775	98	9	grey	grey	ADJ
alkej-775	98	10	wolf	wolf	NOUN
alkej-775	98	11	hunting	hunt	VERB
alkej-775	98	12	mechanism	mechanism	NOUN
alkej-775	98	13	[	[	X
alkej-775	98	14	15	15	NUM
alkej-775	98	15	]	]	SYM
alkej-775	98	16	:	:	PUNCT
alkej-775	98	17	(	(	PUNCT
alkej-775	98	18	)	)	PUNCT
alkej-775	98	19	)	)	PUNCT
alkej-775	99	1	⃗	⃗	PROPN
alkej-775	99	2	+	+	PUNCT
alkej-775	99	3	=	=	SYM
alkej-775	99	4	,	,	PUNCT
alkej-775	99	5	-)⃗	-)⃗	PROPN
alkej-775	99	6	+	+	PROPN
alkej-775	99	7	.	.	PUNCT
alkej-775	99	8	/))⃗	/))⃗	PUNCT
alkej-775	100	1	+	+	CCONJ
alkej-775	100	2	−	−	ADP
alkej-775	100	3	/))⃗	/))⃗	X
alkej-775	100	4	0	0	NUM
alkej-775	100	5	,	,	PUNCT
alkej-775	100	6	;	;	PUNCT
alkej-775	100	7	(	(	PUNCT
alkej-775	100	8	)	)	PUNCT
alkej-775	100	9	)	)	PUNCT
alkej-775	100	10	⃗	⃗	PROPN
alkej-775	100	11	2	2	NUM
alkej-775	100	12	=	=	PUNCT
alkej-775	100	13	,	,	PUNCT
alkej-775	100	14	-)⃗	-)⃗	PROPN
alkej-775	100	15	2	2	NUM
alkej-775	100	16	.	.	PUNCT
alkej-775	100	17	/))⃗	/))⃗	VERB
alkej-775	101	1	2	2	NUM
alkej-775	101	2	−	−	NOUN
alkej-775	101	3	/))⃗	/))⃗	NOUN
alkej-775	101	4	0	0	NUM
alkej-775	101	5	,	,	PUNCT
alkej-775	101	6	;	;	PUNCT
alkej-775	101	7	(	(	PUNCT
alkej-775	101	8	)	)	PUNCT
alkej-775	101	9	)	)	PUNCT
alkej-775	102	1	⃗	⃗	PROPN
alkej-775	102	2	3	3	NUM
alkej-775	102	3	=	=	PUNCT
alkej-775	102	4	,	,	PUNCT
alkej-775	102	5	-⃗3	-⃗3	NOUN
alkej-775	102	6	.	.	PUNCT
alkej-775	103	1	/⃗3	/⃗3	INTJ
alkej-775	104	1	−	−	PUNCT
alkej-775	104	2	/⃗4	/⃗4	NOUN
alkej-775	104	3	,	,	PUNCT
alkej-775	104	4	…	…	PUNCT
alkej-775	104	5	(	(	PUNCT
alkej-775	104	6	2	2	NUM
alkej-775	104	7	)	)	PUNCT
alkej-775	104	8	5)⃗	5)⃗	NUM
alkej-775	104	9	+	+	NUM
alkej-775	104	10	=	=	NOUN
alkej-775	104	11	,	,	PUNCT
alkej-775	104	12	/))⃗	/))⃗	PUNCT
alkej-775	105	1	+	+	CCONJ
alkej-775	105	2	−	−	NUM
alkej-775	105	3	6))⃗	6))⃗	NUM
alkej-775	105	4	+	+	NOUN
alkej-775	105	5	.	.	PUNCT
alkej-775	105	6	(	(	PUNCT
alkej-775	105	7	)	)	PUNCT
alkej-775	105	8	)	)	PUNCT
alkej-775	106	1	⃗	⃗	PROPN
alkej-775	106	2	+	+	PROPN
alkej-775	106	3	,	,	PUNCT
alkej-775	106	4	;	;	PUNCT
alkej-775	106	5	5)⃗	5)⃗	NUM
alkej-775	106	6	2	2	NUM
alkej-775	106	7	=	=	PUNCT
alkej-775	106	8	,	,	PUNCT
alkej-775	106	9	/))⃗	/))⃗	X
alkej-775	106	10	2	2	NUM
alkej-775	106	11	−	−	NOUN
alkej-775	106	12	6))⃗	6))⃗	NUM
alkej-775	106	13	2	2	NUM
alkej-775	106	14	.	.	PUNCT
alkej-775	107	1	(	(	PUNCT
alkej-775	107	2	)	)	PUNCT
alkej-775	107	3	)	)	PUNCT
alkej-775	108	1	⃗	⃗	PROPN
alkej-775	108	2	2	2	NUM
alkej-775	108	3	,	,	PUNCT
alkej-775	108	4	;	;	PUNCT
alkej-775	108	5	5)⃗	5)⃗	NUM
alkej-775	108	6	7	7	NUM
alkej-775	108	7	=	=	PUNCT
alkej-775	108	8	,	,	PUNCT
alkej-775	108	9	/))⃗	/))⃗	VERB
alkej-775	108	10	7	7	NUM
alkej-775	108	11	−	−	PROPN
alkej-775	108	12	6))⃗	6))⃗	NUM
alkej-775	108	13	7	7	NUM
alkej-775	108	14	.	.	PUNCT
alkej-775	108	15	(	(	PUNCT
alkej-775	108	16	)	)	PUNCT
alkej-775	108	17	)	)	PUNCT
alkej-775	109	1	⃗	⃗	PROPN
alkej-775	109	2	7	7	NUM
alkej-775	109	3	,	,	PUNCT
alkej-775	109	4	…	…	PUNCT
alkej-775	109	5	(	(	PUNCT
alkej-775	109	6	3	3	NUM
alkej-775	109	7	)	)	PUNCT
alkej-775	109	8	/⃗	/⃗	PUNCT
alkej-775	109	9	�	�	PROPN
alkej-775	109	10	89	89	NUM
alkej-775	109	11	:	:	PUNCT
alkej-775	109	12	�	�	PROPN
alkej-775	109	13	=	=	SYM
alkej-775	109	14	;)	;)	SYM
alkej-775	109	15	⃗<9	⃗<9	X
alkej-775	109	16	;)	;)	PUNCT
alkej-775	109	17	⃗	⃗	PROPN
alkej-775	109	18	=	=	SYM
alkej-775	109	19	9	9	NUM
alkej-775	109	20	;)	;)	SYM
alkej-775	109	21	⃗	⃗	X
alkej-775	109	22	>	>	PUNCT
alkej-775	109	23	?	?	PUNCT
alkej-775	109	24	…	…	PUNCT
alkej-775	109	25	(	(	PUNCT
alkej-775	109	26	4	4	NUM
alkej-775	109	27	)	)	PUNCT
alkej-775	109	28	(	(	PUNCT
alkej-775	109	29	)	)	PUNCT
alkej-775	109	30	)	)	PUNCT
alkej-775	110	1	⃗	⃗	PROPN
alkej-775	110	2	@	@	ADP
alkej-775	110	3	,	,	PUNCT
alkej-775	110	4	(	(	PUNCT
alkej-775	110	5	)	)	PUNCT
alkej-775	110	6	)	)	PUNCT
alkej-775	110	7	⃗	⃗	PROPN
alkej-775	110	8	a	a	X
alkej-775	110	9	,	,	PUNCT
alkej-775	110	10	and	and	CCONJ
alkej-775	110	11	(	(	PUNCT
alkej-775	110	12	)	)	PUNCT
alkej-775	110	13	)	)	PUNCT
alkej-775	111	1	⃗	⃗	PROPN
alkej-775	111	2	3	3	NUM
alkej-775	111	3	are	be	AUX
alkej-775	111	4	the	the	DET
alkej-775	111	5	distance	distance	NOUN
alkej-775	111	6	vectors	vector	NOUN
alkej-775	111	7	between	between	ADP
alkej-775	111	8	the	the	DET
alkej-775	111	9	prey	prey	NOUN
alkej-775	111	10	and	and	CCONJ
alkej-775	111	11	the	the	DET
alkej-775	111	12	wolf	wolf	PROPN
alkej-775	111	13	(	(	PUNCT
alkej-775	111	14	alpha	alpha	NOUN
alkej-775	111	15	,	,	PUNCT
alkej-775	111	16	beta	beta	NOUN
alkej-775	111	17	,	,	PUNCT
alkej-775	111	18	delta	delta	NOUN
alkej-775	111	19	)	)	PUNCT
alkej-775	111	20	,	,	PUNCT
alkej-775	111	21	/⃗@	/⃗@	PROPN
alkej-775	111	22	,	,	PUNCT
alkej-775	111	23	/⃗a	/⃗a	NOUN
alkej-775	111	24	,	,	PUNCT
alkej-775	111	25	and	and	CCONJ
alkej-775	111	26	/⃗3	/⃗3	CCONJ
alkej-775	111	27	represent	represent	VERB
alkej-775	111	28	the	the	DET
alkej-775	111	29	location	location	NOUN
alkej-775	111	30	vector	vector	NOUN
alkej-775	111	31	of	of	ADP
alkej-775	111	32	the	the	DET
alkej-775	111	33	prey	prey	NOUN
alkej-775	111	34	for	for	ADP
alkej-775	111	35	alpha	alpha	NOUN
alkej-775	111	36	,	,	PUNCT
alkej-775	111	37	beta	beta	NOUN
alkej-775	111	38	,	,	PUNCT
alkej-775	111	39	and	and	CCONJ
alkej-775	111	40	delta	delta	NOUN
alkej-775	111	41	wolves	wolf	NOUN
alkej-775	111	42	.	.	PUNCT
alkej-775	112	1	/⃗	/⃗	NOUN
alkej-775	112	2	represents	represent	VERB
alkej-775	112	3	the	the	DET
alkej-775	112	4	grey	grey	ADJ
alkej-775	112	5	wolf	wolf	NOUN
alkej-775	112	6	's	's	PART
alkej-775	112	7	location	location	NOUN
alkej-775	112	8	vector	vector	NOUN
alkej-775	112	9	at	at	ADP
alkej-775	112	10	t+1	t+1	PROPN
alkej-775	112	11	iteration	iteration	NOUN
alkej-775	112	12	,	,	PUNCT
alkej-775	112	13	the	the	DET
alkej-775	112	14	coefficient	coefficient	NOUN
alkej-775	112	15	vectors	vector	NOUN
alkej-775	112	16	of	of	ADP
alkej-775	112	17	alpha	alpha	NOUN
alkej-775	112	18	,	,	PUNCT
alkej-775	112	19	beta	beta	NOUN
alkej-775	112	20	,	,	PUNCT
alkej-775	112	21	and	and	CCONJ
alkej-775	112	22	delta	delta	NOUN
alkej-775	112	23	wolves	wolf	NOUN
alkej-775	112	24	are	be	AUX
alkej-775	112	25	denoted	denote	VERB
alkej-775	112	26	by	by	ADP
alkej-775	112	27	-⃗@	-⃗@	X
alkej-775	112	28	,	,	PUNCT
alkej-775	112	29	-⃗a	-⃗a	NOUN
alkej-775	112	30	,	,	PUNCT
alkej-775	112	31	-⃗3	-⃗3	PROPN
alkej-775	112	32	,	,	PUNCT
alkej-775	112	33	6⃗@	6⃗@	PROPN
alkej-775	112	34	,	,	PUNCT
alkej-775	112	35	6⃗a	6⃗a	NUM
alkej-775	112	36	and	and	CCONJ
alkej-775	112	37	6⃗3	6⃗3	NUM
alkej-775	112	38	respectively	respectively	ADV
alkej-775	112	39	.	.	PUNCT
alkej-775	113	1	the	the	DET
alkej-775	113	2	trial	trial	NOUN
alkej-775	113	3	vector	vector	NOUN
alkej-775	113	4	for	for	ADP
alkej-775	113	5	an	an	DET
alkej-775	113	6	alpha	alpha	NOUN
alkej-775	113	7	,	,	PUNCT
alkej-775	113	8	beta	beta	NOUN
alkej-775	113	9	,	,	PUNCT
alkej-775	113	10	and	and	CCONJ
alkej-775	113	11	delta	delta	NOUN
alkej-775	113	12	wolves	wolf	NOUN
alkej-775	113	13	is	be	AUX
alkej-775	113	14	denoted	denote	VERB
alkej-775	113	15	by	by	ADP
alkej-775	113	16	the	the	DET
alkej-775	113	17	letters	letter	NOUN
alkej-775	113	18	5)⃗@	5)⃗@	NUM
alkej-775	113	19	,	,	PUNCT
alkej-775	113	20	5)⃗	5)⃗	PROPN
alkej-775	113	21	a	a	PRON
alkej-775	113	22	,	,	PUNCT
alkej-775	113	23	and	and	CCONJ
alkej-775	113	24	5)⃗	5)⃗	NUM
alkej-775	113	25	3	3	NUM
alkej-775	113	26	.	.	PUNCT
alkej-775	114	1	for	for	ADP
alkej-775	114	2	alpha	alpha	NOUN
alkej-775	114	3	,	,	PUNCT
alkej-775	114	4	beta	beta	NOUN
alkej-775	114	5	,	,	PUNCT
alkej-775	114	6	and	and	CCONJ
alkej-775	114	7	delta	delta	NOUN
alkej-775	114	8	wolves	wolf	NOUN
alkej-775	114	9	,	,	PUNCT
alkej-775	114	10	the	the	DET
alkej-775	114	11	coefficient	coefficient	NOUN
alkej-775	114	12	vectors	vector	NOUN
alkej-775	114	13	are	be	AUX
alkej-775	114	14	determined	determine	VERB
alkej-775	114	15	as	as	SCONJ
alkej-775	114	16	follows	follow	VERB
alkej-775	114	17	:	:	PUNCT
alkej-775	114	18	6))⃗	6))⃗	NUM
alkej-775	114	19	b	b	X
alkej-775	114	20	=	=	SYM
alkej-775	114	21	2d)⃗	2d)⃗	NUM
alkej-775	114	22	.	.	PUNCT
alkej-775	115	1	e⃗1	e⃗1	PROPN
alkej-775	115	2	−	−	PROPN
alkej-775	115	3	d)⃗	d)⃗	PROPN
alkej-775	115	4	…	…	PUNCT
alkej-775	115	5	(	(	PUNCT
alkej-775	115	6	5	5	NUM
alkej-775	115	7	)	)	PUNCT
alkej-775	115	8	-)⃗	-)⃗	PUNCT
alkej-775	116	1	b	b	NOUN
alkej-775	116	2	=	=	SYM
alkej-775	116	3	2	2	X
alkej-775	116	4	.	.	PUNCT
alkej-775	116	5	e⃗2	e⃗2	VERB
alkej-775	116	6	…	…	PUNCT
alkej-775	116	7	(	(	PUNCT
alkej-775	116	8	6	6	NUM
alkej-775	116	9	)	)	PUNCT
alkej-775	116	10	where	where	SCONJ
alkej-775	116	11	i	i	PRON
alkej-775	116	12	is	be	AUX
alkej-775	116	13	+	+	ADJ
alkej-775	116	14	,	,	PUNCT
alkej-775	116	15	2	2	NUM
alkej-775	116	16	,	,	PUNCT
alkej-775	116	17	and	and	CCONJ
alkej-775	116	18	7	7	NUM
alkej-775	116	19	.	.	X
alkej-775	117	1	a	a	DET
alkej-775	117	2	denotes	denote	NOUN
alkej-775	117	3	a	a	DET
alkej-775	117	4	linear	linear	ADJ
alkej-775	117	5	reduction	reduction	NOUN
alkej-775	117	6	in	in	ADP
alkej-775	117	7	the	the	DET
alkej-775	117	8	vector	vector	NOUN
alkej-775	117	9	from	from	ADP
alkej-775	117	10	2	2	NUM
alkej-775	117	11	to	to	ADP
alkej-775	117	12	0	0	NUM
alkej-775	117	13	during	during	ADP
alkej-775	117	14	optimization	optimization	NOUN
alkej-775	117	15	,	,	PUNCT
alkej-775	117	16	the	the	DET
alkej-775	117	17	initial	initial	ADJ
alkej-775	117	18	random	random	ADJ
alkej-775	117	19	vector	vector	NOUN
alkej-775	117	20	in	in	ADP
alkej-775	117	21	[	[	X
alkej-775	117	22	0,1	0,1	NUM
alkej-775	117	23	]	]	PUNCT
alkej-775	117	24	is	be	AUX
alkej-775	117	25	denoted	denote	VERB
alkej-775	117	26	as	as	SCONJ
alkej-775	117	27	r.	r.	PROPN
alkej-775	117	28	members	member	NOUN
alkej-775	117	29	of	of	ADP
alkej-775	117	30	the	the	DET
alkej-775	117	31	grey	grey	PROPN
alkej-775	117	32	wolf	wolf	PROPN
alkej-775	117	33	pack	pack	PROPN
alkej-775	117	34	change	change	VERB
alkej-775	117	35	their	their	PRON
alkej-775	117	36	locations	location	NOUN
alkej-775	117	37	based	base	VERB
alkej-775	117	38	on	on	ADP
alkej-775	117	39	alpha	alpha	PROPN
alkej-775	117	40	,	,	PUNCT
alkej-775	117	41	beta	beta	NOUN
alkej-775	117	42	,	,	PUNCT
alkej-775	117	43	delta	delta	NOUN
alkej-775	117	44	,	,	PUNCT
alkej-775	117	45	and	and	CCONJ
alkej-775	117	46	delta	delta	NOUN
alkej-775	117	47	wolves	wolf	NOUN
alkej-775	117	48	,	,	PUNCT
alkej-775	117	49	as	as	ADV
alkej-775	117	50	well	well	ADV
alkej-775	117	51	as	as	ADP
alkej-775	117	52	prey	prey	NOUN
alkej-775	117	53	.	.	PUNCT
alkej-775	118	1	the	the	DET
alkej-775	118	2	grey	grey	PROPN
alkej-775	118	3	wolves	wolf	NOUN
alkej-775	118	4	catch	catch	VERB
alkej-775	118	5	their	their	PRON
alkej-775	118	6	victim	victim	NOUN
alkej-775	118	7	and	and	CCONJ
alkej-775	118	8	then	then	ADV
alkej-775	118	9	attack	attack	VERB
alkej-775	118	10	it	it	PRON
alkej-775	118	11	to	to	PART
alkej-775	118	12	conclude	conclude	VERB
alkej-775	118	13	the	the	DET
alkej-775	118	14	hunt	hunt	NOUN
alkej-775	118	15	.	.	PUNCT
alkej-775	119	1	it	it	PRON
alkej-775	119	2	=	=	SYM
alkej-775	119	3	it+1	it+1	PROPN
alkej-775	119	4	update	update	VERB
alkej-775	119	5	the	the	DET
alkej-775	119	6	a	a	NOUN
alkej-775	119	7	,	,	PUNCT
alkej-775	119	8	c	c	NOUN
alkej-775	119	9	,	,	PUNCT
alkej-775	119	10	a	a	DET
alkej-775	119	11	initialize	initialize	NOUN
alkej-775	119	12	the	the	DET
alkej-775	119	13	parameters	parameter	NOUN
alkej-775	119	14	of	of	ADP
alkej-775	119	15	gwo	gwo	PROPN
alkej-775	119	16	(	(	PUNCT
alkej-775	119	17	a	a	PRON
alkej-775	119	18	,	,	PUNCT
alkej-775	119	19	c	c	NOUN
alkej-775	119	20	,	,	PUNCT
alkej-775	119	21	a	a	PRON
alkej-775	119	22	)	)	PUNCT
alkej-775	119	23	initialize	initialize	VERB
alkej-775	119	24	the	the	DET
alkej-775	119	25	grey	grey	ADJ
alkej-775	119	26	wolf	wolf	PROPN
alkej-775	119	27	population	population	NOUN
alkej-775	119	28	n	n	CCONJ
alkej-775	119	29	with	with	ADP
alkej-775	119	30	random	random	ADJ
alkej-775	119	31	position	position	NOUN
alkej-775	119	32	calculate	calculate	VERB
alkej-775	119	33	the	the	DET
alkej-775	119	34	fitness	fitness	NOUN
alkej-775	119	35	value	value	NOUN
alkej-775	119	36	for	for	ADP
alkej-775	119	37	each	each	DET
alkej-775	119	38	search	search	NOUN
alkej-775	119	39	agent	agent	NOUN
alkej-775	119	40	update	update	VERB
alkej-775	119	41	the	the	DET
alkej-775	119	42	position	position	NOUN
alkej-775	119	43	for	for	ADP
alkej-775	119	44	search	search	NOUN
alkej-775	119	45	agents	agent	NOUN
alkej-775	119	46	from	from	ADP
alkej-775	119	47	1	1	NUM
alkej-775	119	48	:	:	PUNCT
alkej-775	119	49	n	n	PRON
alkej-775	119	50	determine	determine	VERB
alkej-775	119	51	the	the	DET
alkej-775	119	52	current	current	ADJ
alkej-775	119	53	first	first	ADJ
alkej-775	119	54	three	three	NUM
alkej-775	119	55	best	good	ADJ
alkej-775	119	56	wolf	wolf	NOUN
alkej-775	119	57	’s	’s	PART
alkej-775	119	58	optimum	optimum	NOUN
alkej-775	119	59	in	in	ADP
alkej-775	119	60	the	the	DET
alkej-775	119	61	pack	pack	NOUN
alkej-775	119	62	and	and	CCONJ
alkej-775	119	63	update	update	VERB
alkej-775	119	64	the	the	DET
alkej-775	119	65	/⃗@	/⃗@	PROPN
alkej-775	119	66	,	,	PUNCT
alkej-775	119	67	/⃗a	/⃗a	NOUN
alkej-775	119	68	,	,	PUNCT
alkej-775	119	69	and	and	CCONJ
alkej-775	119	70	/⃗3	/⃗3	INTJ
alkej-775	119	71	.	.	PUNCT
alkej-775	120	1	stopping	stop	VERB
alkej-775	120	2	criteria	criterion	NOUN
alkej-775	120	3	satisfied	satisfy	VERB
alkej-775	120	4	output	output	NOUN
alkej-775	120	5	result	result	NOUN
alkej-775	120	6	end	end	VERB
alkej-775	121	1	yes	yes	INTJ
alkej-775	122	1	no	no	PRON
alkej-775	122	2	it=1	it=1	ADV
alkej-775	122	3	determine	determine	VERB
alkej-775	122	4	the	the	DET
alkej-775	122	5	position	position	NOUN
alkej-775	122	6	for	for	ADP
alkej-775	122	7	each	each	DET
alkej-775	122	8	agent	agent	NOUN
alkej-775	122	9	initialize	initialize	VERB
alkej-775	122	10	the	the	DET
alkej-775	122	11	environment	environment	NOUN
alkej-775	122	12	with	with	ADP
alkej-775	122	13	obstacles	obstacle	NOUN
alkej-775	122	14	,	,	PUNCT
alkej-775	122	15	identify	identify	VERB
alkej-775	122	16	the	the	DET
alkej-775	122	17	start	start	NOUN
alkej-775	122	18	and	and	CCONJ
alkej-775	122	19	target	target	NOUN
alkej-775	122	20	point	point	NOUN
alkej-775	122	21	start	start	NOUN
alkej-775	122	22	tahseen	tahseen	VERB
alkej-775	122	23	fadhil	fadhil	PROPN
alkej-775	122	24	abbas	abbas	PROPN
alkej-775	122	25	al	al	PROPN
alkej-775	122	26	-	-	PUNCT
alkej-775	122	27	khwarizmi	khwarizmi	PROPN
alkej-775	122	28	engineering	engineering	NOUN
alkej-775	122	29	journal	journal	PROPN
alkej-775	122	30	,	,	PUNCT
alkej-775	122	31	vol	vol	NOUN
alkej-775	122	32	.	.	PROPN
alkej-775	122	33	18	18	NUM
alkej-775	122	34	,	,	PUNCT
alkej-775	122	35	no	no	INTJ
alkej-775	122	36	.	.	NOUN
alkej-775	122	37	2	2	NUM
alkej-775	122	38	,	,	PUNCT
alkej-775	122	39	p.p	p.p	PROPN
alkej-775	122	40	.	.	NOUN
alkej-775	122	41	1328	1328	NUM
alkej-775	122	42	(	(	PUNCT
alkej-775	122	43	2022	2022	NUM
alkej-775	122	44	)	)	PUNCT
alkej-775	122	45	17	17	NUM
alkej-775	122	46	this	this	DET
alkej-775	122	47	situation	situation	NOUN
alkej-775	122	48	is	be	AUX
alkej-775	122	49	defined	define	VERB
alkej-775	122	50	as	as	ADP
alkej-775	122	51	a	a	DET
alkej-775	122	52	decreasing	decrease	VERB
alkej-775	122	53	vector	vector	NOUN
alkej-775	122	54	in	in	ADP
alkej-775	122	55	the	the	DET
alkej-775	122	56	mathematical	mathematical	ADJ
alkej-775	122	57	model	model	NOUN
alkej-775	122	58	given	give	VERB
alkej-775	122	59	below	below	ADV
alkej-775	122	60	:	:	PUNCT
alkej-775	122	61	d)⃗	d)⃗	PROPN
alkej-775	122	62	=	=	SYM
alkej-775	122	63	2	2	NUM
alkej-775	122	64	−	−	NOUN
alkej-775	122	65	g	g	PROPN
alkej-775	122	66	2∗b0ie	2∗b0ie	NUM
alkej-775	122	67	b0iejdkl	b0iejdkl	NOUN
alkej-775	122	68	…	…	PUNCT
alkej-775	122	69	(	(	PUNCT
alkej-775	122	70	7	7	NUM
alkej-775	122	71	)	)	SYM
alkej-775	122	72	6	6	NUM
alkej-775	122	73	.	.	PUNCT
alkej-775	123	1	simulation	simulation	NOUN
alkej-775	123	2	result	result	VERB
alkej-775	123	3	6.1	6.1	NUM
alkej-775	123	4	.	.	PUNCT
alkej-775	123	5	environment	environment	NOUN
alkej-775	123	6	setup	setup	NOUN
alkej-775	123	7	three	three	NUM
alkej-775	123	8	environments	environment	NOUN
alkej-775	123	9	are	be	AUX
alkej-775	123	10	selected	select	VERB
alkej-775	123	11	to	to	PART
alkej-775	123	12	validate	validate	VERB
alkej-775	123	13	the	the	DET
alkej-775	123	14	proposed	propose	VERB
alkej-775	123	15	approach	approach	NOUN
alkej-775	123	16	.	.	PUNCT
alkej-775	124	1	in	in	ADP
alkej-775	124	2	all	all	DET
alkej-775	124	3	cases	case	NOUN
alkej-775	124	4	,	,	PUNCT
alkej-775	124	5	the	the	DET
alkej-775	124	6	map	map	NOUN
alkej-775	124	7	dimensions	dimension	NOUN
alkej-775	124	8	are	be	AUX
alkej-775	124	9	(	(	PUNCT
alkej-775	124	10	2400	2400	NUM
alkej-775	124	11	x	x	SYM
alkej-775	124	12	2200	2200	NUM
alkej-775	124	13	)	)	PUNCT
alkej-775	124	14	mm	mm	NOUN
alkej-775	124	15	,	,	PUNCT
alkej-775	124	16	number	number	NOUN
alkej-775	124	17	of	of	ADP
alkej-775	124	18	handle	handle	NOUN
alkej-775	124	19	points	point	NOUN
alkej-775	124	20	is	be	AUX
alkej-775	124	21	equal	equal	ADJ
alkej-775	124	22	to	to	ADP
alkej-775	124	23	3	3	NUM
alkej-775	124	24	(	(	PUNCT
alkej-775	124	25	via	via	ADP
alkej-775	124	26	points	point	NOUN
alkej-775	124	27	)	)	PUNCT
alkej-775	124	28	.	.	PUNCT
alkej-775	125	1	these	these	DET
alkej-775	125	2	environments	environment	NOUN
alkej-775	125	3	have	have	VERB
alkej-775	125	4	static	static	ADJ
alkej-775	125	5	obstacles	obstacle	NOUN
alkej-775	125	6	located	locate	VERB
alkej-775	125	7	at	at	ADP
alkej-775	125	8	random	random	ADJ
alkej-775	125	9	positions	position	NOUN
alkej-775	125	10	and	and	CCONJ
alkej-775	125	11	are	be	AUX
alkej-775	125	12	unknown	unknown	ADJ
alkej-775	125	13	in	in	ADP
alkej-775	125	14	the	the	DET
alkej-775	125	15	workspace	workspace	NOUN
alkej-775	125	16	environment	environment	NOUN
alkej-775	125	17	.	.	PUNCT
alkej-775	126	1	there	there	PRON
alkej-775	126	2	is	be	VERB
alkej-775	126	3	no	no	DET
alkej-775	126	4	prior	prior	ADJ
alkej-775	126	5	information	information	NOUN
alkej-775	126	6	of	of	ADP
alkej-775	126	7	the	the	DET
alkej-775	126	8	initial	initial	ADJ
alkej-775	126	9	wmr	wmr	PROPN
alkej-775	126	10	location	location	NOUN
alkej-775	126	11	,	,	PUNCT
alkej-775	126	12	obstacles	obstacle	NOUN
alkej-775	126	13	,	,	PUNCT
alkej-775	126	14	and	and	CCONJ
alkej-775	126	15	target	target	NOUN
alkej-775	126	16	location	location	NOUN
alkej-775	126	17	,	,	PUNCT
alkej-775	126	18	and	and	CCONJ
alkej-775	126	19	assume	assume	VERB
alkej-775	126	20	wmr	wmr	PROPN
alkej-775	126	21	environment	environment	PROPN
alkej-775	126	22	information	information	NOUN
alkej-775	126	23	is	be	AUX
alkej-775	126	24	defined	define	VERB
alkej-775	126	25	based	base	VERB
alkej-775	126	26	on	on	ADP
alkej-775	126	27	assuming	assume	VERB
alkej-775	126	28	using	use	VERB
alkej-775	126	29	an	an	DET
alkej-775	126	30	external	external	ADJ
alkej-775	126	31	sensor	sensor	NOUN
alkej-775	126	32	(	(	PUNCT
alkej-775	126	33	overhead	overhead	ADJ
alkej-775	126	34	camera	camera	NOUN
alkej-775	126	35	)	)	PUNCT
alkej-775	126	36	,	,	PUNCT
alkej-775	126	37	to	to	PART
alkej-775	126	38	build	build	VERB
alkej-775	126	39	the	the	DET
alkej-775	126	40	environment	environment	NOUN
alkej-775	126	41	simulation	simulation	NOUN
alkej-775	126	42	as	as	ADP
alkej-775	126	43	input	input	NOUN
alkej-775	126	44	to	to	ADP
alkej-775	126	45	simulated	simulate	VERB
alkej-775	126	46	and	and	CCONJ
alkej-775	126	47	path	path	NOUN
alkej-775	126	48	find	find	VERB
alkej-775	126	49	based	base	VERB
alkej-775	126	50	on	on	ADP
alkej-775	126	51	a	a	DET
alkej-775	126	52	proposed	propose	VERB
alkej-775	126	53	intelligent	intelligent	ADJ
alkej-775	126	54	algorithm	algorithm	NOUN
alkej-775	126	55	.	.	PUNCT
alkej-775	127	1	matlab	matlab	PROPN
alkej-775	127	2	r2019b	r2019b	DET
alkej-775	127	3	programming	programming	NOUN
alkej-775	127	4	language	language	NOUN
alkej-775	127	5	used	use	VERB
alkej-775	127	6	to	to	PART
alkej-775	127	7	create	create	VERB
alkej-775	127	8	the	the	DET
alkej-775	127	9	simulation	simulation	NOUN
alkej-775	127	10	code	code	NOUN
alkej-775	127	11	for	for	ADP
alkej-775	127	12	path	path	NOUN
alkej-775	127	13	planning	planning	NOUN
alkej-775	127	14	using	use	VERB
alkej-775	127	15	tested	test	VERB
alkej-775	127	16	on	on	ADP
alkej-775	127	17	intel(r	intel(r	PROPN
alkej-775	127	18	)	)	PUNCT
alkej-775	127	19	core	core	NOUN
alkej-775	127	20	i7	i7	NOUN
alkej-775	127	21	,	,	PUNCT
alkej-775	127	22	2.2	2.2	NUM
alkej-775	127	23	ghz	ghz	NOUN
alkej-775	127	24	cpu	cpu	NOUN
alkej-775	127	25	,	,	PUNCT
alkej-775	127	26	8.00	8.00	NUM
alkej-775	127	27	gb	gb	NOUN
alkej-775	127	28	ram	ram	NOUN
alkej-775	127	29	system	system	NOUN
alkej-775	127	30	.	.	PUNCT
alkej-775	128	1	in	in	ADP
alkej-775	128	2	the	the	DET
alkej-775	128	3	mass	mass	NOUN
alkej-775	128	4	point	point	NOUN
alkej-775	128	5	simulation	simulation	NOUN
alkej-775	128	6	,	,	PUNCT
alkej-775	128	7	wmr	wmr	PROPN
alkej-775	128	8	is	be	AUX
alkej-775	128	9	considered	consider	VERB
alkej-775	128	10	a	a	DET
alkej-775	128	11	dimensionless	dimensionless	NOUN
alkej-775	128	12	point	point	NOUN
alkej-775	128	13	.	.	PUNCT
alkej-775	129	1	table	table	NOUN
alkej-775	129	2	1	1	NUM
alkej-775	129	3	shows	show	VERB
alkej-775	129	4	the	the	DET
alkej-775	129	5	parameter	parameter	NOUN
alkej-775	129	6	settings	setting	NOUN
alkej-775	129	7	of	of	ADP
alkej-775	129	8	algorithm	algorithm	NOUN
alkej-775	129	9	parameters	parameter	NOUN
alkej-775	129	10	that	that	PRON
alkej-775	129	11	have	have	AUX
alkej-775	129	12	been	be	AUX
alkej-775	129	13	used	use	VERB
alkej-775	129	14	in	in	ADP
alkej-775	129	15	the	the	DET
alkej-775	129	16	simulation	simulation	NOUN
alkej-775	129	17	.	.	PUNCT
alkej-775	130	1	table	table	NOUN
alkej-775	130	2	1	1	NUM
alkej-775	130	3	,	,	PUNCT
alkej-775	130	4	parameters	parameter	NOUN
alkej-775	130	5	used	use	VERB
alkej-775	130	6	for	for	ADP
alkej-775	130	7	the	the	DET
alkej-775	130	8	gwo	gwo	PROPN
alkej-775	130	9	algorithm	algorithm	PROPN
alkej-775	130	10	.	.	PUNCT
alkej-775	131	1	parameter	parameter	PROPN
alkej-775	131	2	value	value	NOUN
alkej-775	131	3	wolf	wolf	PROPN
alkej-775	131	4	sizes	size	NOUN
alkej-775	131	5	(	(	PUNCT
alkej-775	131	6	population	population	NOUN
alkej-775	131	7	)	)	PUNCT
alkej-775	131	8	100	100	NUM
alkej-775	131	9	no	no	PRON
alkej-775	131	10	of	of	ADP
alkej-775	131	11	iterations	iteration	NOUN
alkej-775	131	12	10	10	NUM
alkej-775	131	13	,	,	PUNCT
alkej-775	131	14	20	20	NUM
alkej-775	131	15	,	,	PUNCT
alkej-775	131	16	40	40	NUM
alkej-775	131	17	,	,	PUNCT
alkej-775	131	18	80	80	NUM
alkej-775	131	19	6.2	6.2	NUM
alkej-775	131	20	.	.	PUNCT
alkej-775	132	1	simulation	simulation	NOUN
alkej-775	132	2	analysis	analysis	NOUN
alkej-775	132	3	and	and	CCONJ
alkej-775	132	4	discussion	discussion	NOUN
alkej-775	132	5	to	to	PART
alkej-775	132	6	determine	determine	VERB
alkej-775	132	7	the	the	DET
alkej-775	132	8	effectiveness	effectiveness	NOUN
alkej-775	132	9	and	and	CCONJ
alkej-775	132	10	efficiency	efficiency	NOUN
alkej-775	132	11	of	of	ADP
alkej-775	132	12	the	the	DET
alkej-775	132	13	proposed	propose	VERB
alkej-775	132	14	algorithm	algorithm	NOUN
alkej-775	132	15	presented	present	VERB
alkej-775	132	16	in	in	ADP
alkej-775	132	17	this	this	DET
alkej-775	132	18	research	research	NOUN
alkej-775	132	19	work	work	NOUN
alkej-775	132	20	to	to	PART
alkej-775	132	21	find	find	VERB
alkej-775	132	22	the	the	DET
alkej-775	132	23	optimal	optimal	ADJ
alkej-775	132	24	path	path	NOUN
alkej-775	132	25	to	to	ADP
alkej-775	132	26	wmr	wmr	PROPN
alkej-775	132	27	navigation	navigation	NOUN
alkej-775	132	28	,	,	PUNCT
alkej-775	132	29	the	the	DET
alkej-775	132	30	algorithm	algorithm	NOUN
alkej-775	132	31	was	be	AUX
alkej-775	132	32	tested	test	VERB
alkej-775	132	33	in	in	ADP
alkej-775	132	34	three	three	NUM
alkej-775	132	35	cases	case	NOUN
alkej-775	132	36	studies	study	NOUN
alkej-775	132	37	(	(	PUNCT
alkej-775	132	38	different	different	ADJ
alkej-775	132	39	collide	collide	NOUN
alkej-775	132	40	environments	environment	NOUN
alkej-775	132	41	)	)	PUNCT
alkej-775	132	42	.	.	PUNCT
alkej-775	133	1	in	in	ADP
alkej-775	133	2	each	each	DET
alkej-775	133	3	environment	environment	NOUN
alkej-775	133	4	the	the	DET
alkej-775	133	5	optimal	optimal	ADJ
alkej-775	133	6	path	path	NOUN
alkej-775	133	7	after	after	SCONJ
alkej-775	133	8	100	100	NUM
alkej-775	133	9	iterations	iteration	NOUN
alkej-775	133	10	was	be	AUX
alkej-775	133	11	selected	select	VERB
alkej-775	133	12	depending	depend	VERB
alkej-775	133	13	on	on	ADP
alkej-775	133	14	the	the	DET
alkej-775	133	15	safe	safe	ADJ
alkej-775	133	16	path	path	NOUN
alkej-775	133	17	as	as	ADP
alkej-775	133	18	the	the	DET
alkej-775	133	19	first	first	ADJ
alkej-775	133	20	step	step	NOUN
alkej-775	133	21	,	,	PUNCT
alkej-775	133	22	and	and	CCONJ
alkej-775	133	23	the	the	DET
alkej-775	133	24	path	path	NOUN
alkej-775	133	25	distance	distance	NOUN
alkej-775	133	26	between	between	ADP
alkej-775	133	27	the	the	DET
alkej-775	133	28	start	start	NOUN
alkej-775	133	29	point	point	NOUN
alkej-775	133	30	to	to	ADP
alkej-775	133	31	the	the	DET
alkej-775	133	32	target	target	NOUN
alkej-775	133	33	point	point	NOUN
alkej-775	133	34	,	,	PUNCT
alkej-775	133	35	which	which	PRON
alkej-775	133	36	is	be	AUX
alkej-775	133	37	determined	determine	VERB
alkej-775	133	38	depending	depend	VERB
alkej-775	133	39	on	on	ADP
alkej-775	133	40	eq	eq	NOUN
alkej-775	133	41	.	.	PROPN
alkej-775	133	42	1	1	NUM
alkej-775	133	43	.	.	X
alkej-775	133	44	case	case	NOUN
alkej-775	133	45	1	1	NUM
alkej-775	133	46	:	:	PUNCT
alkej-775	133	47	the	the	DET
alkej-775	133	48	environment	environment	NOUN
alkej-775	133	49	for	for	ADP
alkej-775	133	50	case	case	NOUN
alkej-775	133	51	study	study	NOUN
alkej-775	133	52	one	one	NUM
alkej-775	133	53	contains	contain	VERB
alkej-775	133	54	five	five	NUM
alkej-775	133	55	obstacles	obstacle	NOUN
alkej-775	133	56	as	as	SCONJ
alkej-775	133	57	shown	show	VERB
alkej-775	133	58	in	in	ADP
alkej-775	133	59	figure	figure	NOUN
alkej-775	133	60	(	(	PUNCT
alkej-775	133	61	4	4	NUM
alkej-775	133	62	)	)	PUNCT
alkej-775	133	63	.	.	PUNCT
alkej-775	134	1	the	the	DET
alkej-775	134	2	start	start	NOUN
alkej-775	134	3	point	point	NOUN
alkej-775	134	4	of	of	ADP
alkej-775	134	5	wmr	wmr	PROPN
alkej-775	134	6	(	(	PUNCT
alkej-775	134	7	red	red	ADJ
alkej-775	134	8	circle	circle	PROPN
alkej-775	134	9	)	)	PUNCT
alkej-775	134	10	and	and	CCONJ
alkej-775	134	11	the	the	DET
alkej-775	134	12	target	target	NOUN
alkej-775	134	13	point	point	NOUN
alkej-775	134	14	(	(	PUNCT
alkej-775	134	15	blue	blue	ADJ
alkej-775	134	16	circle	circle	NOUN
alkej-775	134	17	)	)	PUNCT
alkej-775	134	18	are	be	AUX
alkej-775	134	19	placed	place	VERB
alkej-775	134	20	at	at	ADP
alkej-775	134	21	(	(	PUNCT
alkej-775	134	22	165.50	165.50	NUM
alkej-775	134	23	,	,	PUNCT
alkej-775	134	24	321.99	321.99	NUM
alkej-775	134	25	)	)	PUNCT
alkej-775	134	26	mm	mm	PROPN
alkej-775	134	27	,	,	PUNCT
alkej-775	134	28	and	and	CCONJ
alkej-775	134	29	(	(	PUNCT
alkej-775	134	30	1797.09	1797.09	NUM
alkej-775	134	31	,	,	PUNCT
alkej-775	134	32	1773.72	1773.72	NUM
alkej-775	134	33	)	)	PUNCT
alkej-775	134	34	mm	mm	NOUN
alkej-775	134	35	respectively	respectively	ADV
alkej-775	134	36	as	as	SCONJ
alkej-775	134	37	shown	show	VERB
alkej-775	134	38	in	in	ADP
alkej-775	134	39	figure	figure	NOUN
alkej-775	134	40	3	3	NUM
alkej-775	134	41	.	.	PUNCT
alkej-775	134	42	fig	fig	NOUN
alkej-775	134	43	.	.	PUNCT
alkej-775	135	1	3	3	X
alkej-775	135	2	.	.	X
alkej-775	135	3	the	the	DET
alkej-775	135	4	environment	environment	NOUN
alkej-775	135	5	of	of	ADP
alkej-775	135	6	case	case	NOUN
alkej-775	135	7	1	1	NUM
alkej-775	135	8	.	.	PUNCT
alkej-775	136	1	the	the	DET
alkej-775	136	2	simulation	simulation	NOUN
alkej-775	136	3	result	result	NOUN
alkej-775	136	4	of	of	ADP
alkej-775	136	5	the	the	DET
alkej-775	136	6	optimum	optimum	ADJ
alkej-775	136	7	route	route	NOUN
alkej-775	136	8	for	for	ADP
alkej-775	136	9	the	the	DET
alkej-775	136	10	first	first	ADJ
alkej-775	136	11	case	case	NOUN
alkej-775	136	12	based	base	VERB
alkej-775	136	13	on	on	ADP
alkej-775	136	14	the	the	DET
alkej-775	136	15	proposed	propose	VERB
alkej-775	136	16	algorithm	algorithm	NOUN
alkej-775	136	17	is	be	AUX
alkej-775	136	18	shown	show	VERB
alkej-775	136	19	in	in	ADP
alkej-775	136	20	figure	figure	NOUN
alkej-775	136	21	4	4	NUM
alkej-775	136	22	.	.	PUNCT
alkej-775	137	1	while	while	SCONJ
alkej-775	137	2	figure	figure	NOUN
alkej-775	137	3	5	5	NUM
alkej-775	137	4	.	.	PUNCT
alkej-775	137	5	plotted	plot	VERB
alkej-775	137	6	the	the	DET
alkej-775	137	7	relation	relation	NOUN
alkej-775	137	8	of	of	ADP
alkej-775	137	9	the	the	DET
alkej-775	137	10	length	length	NOUN
alkej-775	137	11	of	of	ADP
alkej-775	137	12	the	the	DET
alkej-775	137	13	optimal	optimal	ADJ
alkej-775	137	14	path	path	NOUN
alkej-775	137	15	(	(	PUNCT
alkej-775	137	16	better	well	ADJ
alkej-775	137	17	fitness	fitness	NOUN
alkej-775	137	18	)	)	PUNCT
alkej-775	137	19	and	and	CCONJ
alkej-775	137	20	the	the	DET
alkej-775	137	21	number	number	NOUN
alkej-775	137	22	of	of	ADP
alkej-775	137	23	iterations	iteration	NOUN
alkej-775	137	24	for	for	ADP
alkej-775	137	25	estimation	estimation	NOUN
alkej-775	137	26	of	of	ADP
alkej-775	137	27	the	the	DET
alkej-775	137	28	optimal	optimal	ADJ
alkej-775	137	29	value	value	NOUN
alkej-775	137	30	of	of	ADP
alkej-775	137	31	the	the	DET
alkej-775	137	32	objective	objective	ADJ
alkej-775	137	33	function	function	NOUN
alkej-775	137	34	for	for	ADP
alkej-775	137	35	target	target	NOUN
alkej-775	137	36	point	point	NOUN
alkej-775	137	37	start	start	NOUN
alkej-775	137	38	point	point	NOUN
alkej-775	137	39	tahseen	tahseen	NOUN
alkej-775	137	40	fadhil	fadhil	PROPN
alkej-775	137	41	abbas	abbas	PROPN
alkej-775	137	42	al	al	PROPN
alkej-775	137	43	-	-	PUNCT
alkej-775	137	44	khwarizmi	khwarizmi	PROPN
alkej-775	137	45	engineering	engineering	NOUN
alkej-775	137	46	journal	journal	PROPN
alkej-775	137	47	,	,	PUNCT
alkej-775	137	48	vol	vol	NOUN
alkej-775	137	49	.	.	PROPN
alkej-775	137	50	18	18	NUM
alkej-775	137	51	,	,	PUNCT
alkej-775	137	52	no	no	INTJ
alkej-775	137	53	.	.	NOUN
alkej-775	137	54	2	2	NUM
alkej-775	137	55	,	,	PUNCT
alkej-775	137	56	p.p	p.p	PROPN
alkej-775	137	57	.	.	NOUN
alkej-775	137	58	1328	1328	NUM
alkej-775	137	59	(	(	PUNCT
alkej-775	137	60	2022	2022	NUM
alkej-775	137	61	)	)	PUNCT
alkej-775	137	62	18	18	NUM
alkej-775	137	63	the	the	DET
alkej-775	137	64	presented	present	VERB
alkej-775	137	65	algorithm	algorithm	NOUN
alkej-775	137	66	.	.	PUNCT
alkej-775	138	1	in	in	ADP
alkej-775	138	2	the	the	DET
alkej-775	138	3	simulation	simulation	NOUN
alkej-775	138	4	results	result	NOUN
alkej-775	138	5	of	of	ADP
alkej-775	138	6	case	case	NOUN
alkej-775	138	7	one	one	NUM
alkej-775	138	8	,	,	PUNCT
alkej-775	138	9	the	the	DET
alkej-775	138	10	optimal	optimal	ADJ
alkej-775	138	11	path	path	NOUN
alkej-775	138	12	of	of	ADP
alkej-775	138	13	the	the	DET
alkej-775	138	14	gwo	gwo	NOUN
alkej-775	138	15	is	be	AUX
alkej-775	138	16	equal	equal	ADJ
alkej-775	138	17	to	to	ADP
alkej-775	138	18	2252.24	2252.24	NUM
alkej-775	138	19	mm	mm	NOUN
alkej-775	138	20	with	with	ADP
alkej-775	138	21	a	a	DET
alkej-775	138	22	computation	computation	NOUN
alkej-775	138	23	time	time	NOUN
alkej-775	138	24	of	of	ADP
alkej-775	138	25	9.03	9.03	NUM
alkej-775	138	26	sec	sec	PROPN
alkej-775	138	27	.	.	PROPN
alkej-775	139	1	which	which	PRON
alkej-775	139	2	achieved	achieve	VERB
alkej-775	139	3	the	the	DET
alkej-775	139	4	optimal	optimal	ADJ
alkej-775	139	5	solution	solution	NOUN
alkej-775	139	6	(	(	PUNCT
alkej-775	139	7	better	well	ADJ
alkej-775	139	8	fitness	fitness	NOUN
alkej-775	139	9	)	)	PUNCT
alkej-775	139	10	.	.	PUNCT
alkej-775	140	1	fig	fig	NOUN
alkej-775	140	2	.	.	PUNCT
alkej-775	141	1	4	4	X
alkej-775	141	2	.	.	X
alkej-775	141	3	path	path	NOUN
alkej-775	141	4	found	find	VERB
alkej-775	141	5	by	by	ADP
alkej-775	141	6	gwo	gwo	PROPN
alkej-775	141	7	algorithm	algorithm	PROPN
alkej-775	141	8	for	for	ADP
alkej-775	141	9	case	case	NOUN
alkej-775	141	10	1	1	NUM
alkej-775	141	11	fig	fig	NOUN
alkej-775	141	12	.	.	PUNCT
alkej-775	142	1	5	5	X
alkej-775	142	2	.	.	X
alkej-775	142	3	best	good	ADJ
alkej-775	142	4	distance	distance	NOUN
alkej-775	142	5	function	function	NOUN
alkej-775	142	6	founded	found	VERB
alkej-775	142	7	by	by	ADP
alkej-775	142	8	gwo	gwo	NOUN
alkej-775	142	9	for	for	ADP
alkej-775	142	10	case	case	NOUN
alkej-775	142	11	1	1	NUM
alkej-775	142	12	.	.	PUNCT
alkej-775	142	13	case	case	NOUN
alkej-775	142	14	2	2	NUM
alkej-775	142	15	:	:	PUNCT
alkej-775	142	16	in	in	ADP
alkej-775	142	17	this	this	DET
alkej-775	142	18	case	case	NOUN
alkej-775	142	19	study	study	NOUN
alkej-775	142	20	,	,	PUNCT
alkej-775	142	21	the	the	DET
alkej-775	142	22	environment	environment	NOUN
alkej-775	142	23	contains	contain	VERB
alkej-775	142	24	eight	eight	NUM
alkej-775	142	25	obstacles	obstacle	NOUN
alkej-775	142	26	as	as	SCONJ
alkej-775	142	27	shown	show	VERB
alkej-775	142	28	in	in	ADP
alkej-775	142	29	figure	figure	NOUN
alkej-775	142	30	(	(	PUNCT
alkej-775	142	31	4	4	NUM
alkej-775	142	32	)	)	PUNCT
alkej-775	142	33	.	.	PUNCT
alkej-775	143	1	the	the	DET
alkej-775	143	2	start	start	NOUN
alkej-775	143	3	point	point	NOUN
alkej-775	143	4	of	of	ADP
alkej-775	143	5	wmr	wmr	PROPN
alkej-775	143	6	(	(	PUNCT
alkej-775	143	7	red	red	ADJ
alkej-775	143	8	circle	circle	PROPN
alkej-775	143	9	)	)	PUNCT
alkej-775	143	10	and	and	CCONJ
alkej-775	143	11	the	the	DET
alkej-775	143	12	target	target	NOUN
alkej-775	143	13	point	point	NOUN
alkej-775	143	14	(	(	PUNCT
alkej-775	143	15	blue	blue	ADJ
alkej-775	143	16	circle	circle	NOUN
alkej-775	143	17	)	)	PUNCT
alkej-775	143	18	are	be	AUX
alkej-775	143	19	placed	place	VERB
alkej-775	143	20	at	at	ADP
alkej-775	143	21	(	(	PUNCT
alkej-775	143	22	168.46	168.46	NUM
alkej-775	143	23	,	,	PUNCT
alkej-775	143	24	322.19	322.19	NUM
alkej-775	143	25	)	)	PUNCT
alkej-775	143	26	mm	mm	PROPN
alkej-775	143	27	,	,	PUNCT
alkej-775	143	28	and	and	CCONJ
alkej-775	143	29	(	(	PUNCT
alkej-775	143	30	2039.59	2039.59	NUM
alkej-775	143	31	,	,	PUNCT
alkej-775	143	32	1766.56	1766.56	NUM
alkej-775	143	33	)	)	PUNCT
alkej-775	143	34	mm	mm	NOUN
alkej-775	143	35	respectively	respectively	ADV
alkej-775	143	36	as	as	SCONJ
alkej-775	143	37	shown	show	VERB
alkej-775	143	38	in	in	ADP
alkej-775	143	39	figure	figure	NOUN
alkej-775	143	40	6	6	NUM
alkej-775	143	41	.	.	PUNCT
alkej-775	143	42	tahseen	tahseen	PROPN
alkej-775	143	43	fadhil	fadhil	PROPN
alkej-775	143	44	abbas	abbas	PROPN
alkej-775	143	45	al	al	PROPN
alkej-775	143	46	-	-	PUNCT
alkej-775	143	47	khwarizmi	khwarizmi	PROPN
alkej-775	143	48	engineering	engineering	NOUN
alkej-775	143	49	journal	journal	PROPN
alkej-775	143	50	,	,	PUNCT
alkej-775	143	51	vol	vol	NOUN
alkej-775	143	52	.	.	PROPN
alkej-775	143	53	18	18	NUM
alkej-775	143	54	,	,	PUNCT
alkej-775	143	55	no	no	INTJ
alkej-775	143	56	.	.	NOUN
alkej-775	143	57	2	2	NUM
alkej-775	143	58	,	,	PUNCT
alkej-775	143	59	p.p	p.p	PROPN
alkej-775	143	60	.	.	NOUN
alkej-775	143	61	1328	1328	NUM
alkej-775	143	62	(	(	PUNCT
alkej-775	143	63	2022	2022	NUM
alkej-775	143	64	)	)	PUNCT
alkej-775	143	65	19	19	NUM
alkej-775	143	66	fig	fig	NOUN
alkej-775	143	67	.	.	PUNCT
alkej-775	144	1	6	6	NUM
alkej-775	144	2	.	.	X
alkej-775	144	3	the	the	DET
alkej-775	144	4	environment	environment	NOUN
alkej-775	144	5	of	of	ADP
alkej-775	144	6	case	case	NOUN
alkej-775	144	7	2	2	NUM
alkej-775	144	8	.	.	PUNCT
alkej-775	145	1	the	the	DET
alkej-775	145	2	simulation	simulation	NOUN
alkej-775	145	3	result	result	NOUN
alkej-775	145	4	of	of	ADP
alkej-775	145	5	the	the	DET
alkej-775	145	6	optimum	optimum	ADJ
alkej-775	145	7	route	route	NOUN
alkej-775	145	8	for	for	ADP
alkej-775	145	9	the	the	DET
alkej-775	145	10	second	second	ADJ
alkej-775	145	11	case	case	NOUN
alkej-775	145	12	based	base	VERB
alkej-775	145	13	on	on	ADP
alkej-775	145	14	the	the	DET
alkej-775	145	15	proposed	propose	VERB
alkej-775	145	16	algorithm	algorithm	NOUN
alkej-775	145	17	is	be	AUX
alkej-775	145	18	shown	show	VERB
alkej-775	145	19	in	in	ADP
alkej-775	145	20	figure	figure	NOUN
alkej-775	145	21	7	7	NUM
alkej-775	145	22	.	.	PUNCT
alkej-775	146	1	while	while	SCONJ
alkej-775	146	2	figure	figure	NOUN
alkej-775	146	3	8	8	NUM
alkej-775	146	4	.	.	PUNCT
alkej-775	146	5	plotted	plot	VERB
alkej-775	146	6	the	the	DET
alkej-775	146	7	relation	relation	NOUN
alkej-775	146	8	of	of	ADP
alkej-775	146	9	the	the	DET
alkej-775	146	10	length	length	NOUN
alkej-775	146	11	of	of	ADP
alkej-775	146	12	the	the	DET
alkej-775	146	13	optimal	optimal	ADJ
alkej-775	146	14	path	path	NOUN
alkej-775	146	15	(	(	PUNCT
alkej-775	146	16	better	well	ADJ
alkej-775	146	17	fitness	fitness	NOUN
alkej-775	146	18	)	)	PUNCT
alkej-775	146	19	and	and	CCONJ
alkej-775	146	20	the	the	DET
alkej-775	146	21	number	number	NOUN
alkej-775	146	22	of	of	ADP
alkej-775	146	23	iterations	iteration	NOUN
alkej-775	146	24	for	for	ADP
alkej-775	146	25	estimation	estimation	NOUN
alkej-775	146	26	of	of	ADP
alkej-775	146	27	the	the	DET
alkej-775	146	28	optimal	optimal	ADJ
alkej-775	146	29	value	value	NOUN
alkej-775	146	30	of	of	ADP
alkej-775	146	31	the	the	DET
alkej-775	146	32	objective	objective	ADJ
alkej-775	146	33	function	function	NOUN
alkej-775	146	34	for	for	ADP
alkej-775	146	35	the	the	DET
alkej-775	146	36	presented	present	VERB
alkej-775	146	37	algorithm	algorithm	NOUN
alkej-775	146	38	.	.	PUNCT
alkej-775	147	1	in	in	ADP
alkej-775	147	2	the	the	DET
alkej-775	147	3	simulation	simulation	NOUN
alkej-775	147	4	results	result	NOUN
alkej-775	147	5	of	of	ADP
alkej-775	147	6	case	case	NOUN
alkej-775	147	7	two	two	NUM
alkej-775	147	8	,	,	PUNCT
alkej-775	147	9	the	the	DET
alkej-775	147	10	optimal	optimal	ADJ
alkej-775	147	11	path	path	NOUN
alkej-775	147	12	of	of	ADP
alkej-775	147	13	the	the	DET
alkej-775	147	14	gwo	gwo	NOUN
alkej-775	147	15	is	be	AUX
alkej-775	147	16	2493.03	2493.03	NUM
alkej-775	147	17	mm	mm	NOUN
alkej-775	147	18	with	with	ADP
alkej-775	147	19	a	a	DET
alkej-775	147	20	computation	computation	NOUN
alkej-775	147	21	time	time	NOUN
alkej-775	147	22	of	of	ADP
alkej-775	147	23	10.59	10.59	NUM
alkej-775	147	24	sec	sec	PROPN
alkej-775	147	25	.	.	PROPN
alkej-775	148	1	which	which	PRON
alkej-775	148	2	achieved	achieve	VERB
alkej-775	148	3	the	the	DET
alkej-775	148	4	optimal	optimal	ADJ
alkej-775	148	5	solution	solution	NOUN
alkej-775	148	6	(	(	PUNCT
alkej-775	148	7	better	well	ADJ
alkej-775	148	8	fitness	fitness	NOUN
alkej-775	148	9	)	)	PUNCT
alkej-775	148	10	.	.	PUNCT
alkej-775	149	1	fig	fig	NOUN
alkej-775	149	2	.	.	PUNCT
alkej-775	150	1	7	7	X
alkej-775	150	2	.	.	X
alkej-775	150	3	path	path	NOUN
alkej-775	150	4	found	find	VERB
alkej-775	150	5	by	by	ADP
alkej-775	150	6	gwo	gwo	PROPN
alkej-775	150	7	algorithm	algorithm	PROPN
alkej-775	150	8	for	for	ADP
alkej-775	150	9	case	case	NOUN
alkej-775	150	10	2	2	NUM
alkej-775	150	11	.	.	X
alkej-775	150	12	target	target	NOUN
alkej-775	150	13	point	point	NOUN
alkej-775	150	14	start	start	NOUN
alkej-775	150	15	point	point	NOUN
alkej-775	150	16	tahseen	tahseen	NOUN
alkej-775	150	17	fadhil	fadhil	PROPN
alkej-775	150	18	abbas	abbas	PROPN
alkej-775	150	19	al	al	PROPN
alkej-775	150	20	-	-	PUNCT
alkej-775	150	21	khwarizmi	khwarizmi	PROPN
alkej-775	150	22	engineering	engineering	NOUN
alkej-775	150	23	journal	journal	PROPN
alkej-775	150	24	,	,	PUNCT
alkej-775	150	25	vol	vol	NOUN
alkej-775	150	26	.	.	PROPN
alkej-775	150	27	18	18	NUM
alkej-775	150	28	,	,	PUNCT
alkej-775	150	29	no	no	INTJ
alkej-775	150	30	.	.	NOUN
alkej-775	150	31	2	2	NUM
alkej-775	150	32	,	,	PUNCT
alkej-775	150	33	p.p	p.p	PROPN
alkej-775	150	34	.	.	NOUN
alkej-775	150	35	1328	1328	NUM
alkej-775	150	36	(	(	PUNCT
alkej-775	150	37	2022	2022	NUM
alkej-775	150	38	)	)	PUNCT
alkej-775	150	39	20	20	NUM
alkej-775	150	40	fig	fig	NOUN
alkej-775	150	41	.	.	PUNCT
alkej-775	151	1	8	8	NUM
alkej-775	151	2	.	.	PUNCT
alkej-775	151	3	best	good	ADJ
alkej-775	151	4	distance	distance	NOUN
alkej-775	151	5	function	function	NOUN
alkej-775	151	6	founded	found	VERB
alkej-775	151	7	by	by	ADP
alkej-775	151	8	gwo	gwo	PROPN
alkej-775	151	9	algorithm	algorithm	NOUN
alkej-775	151	10	for	for	ADP
alkej-775	151	11	case	case	NOUN
alkej-775	151	12	2	2	NUM
alkej-775	151	13	.	.	PUNCT
alkej-775	151	14	case	case	NOUN
alkej-775	151	15	3	3	NUM
alkej-775	151	16	:	:	PUNCT
alkej-775	151	17	in	in	ADP
alkej-775	151	18	case	case	NOUN
alkej-775	151	19	three	three	NUM
alkej-775	151	20	the	the	DET
alkej-775	151	21	environment	environment	NOUN
alkej-775	151	22	contains	contain	VERB
alkej-775	151	23	twelve	twelve	NUM
alkej-775	151	24	obstacles	obstacle	NOUN
alkej-775	151	25	as	as	SCONJ
alkej-775	151	26	shown	show	VERB
alkej-775	151	27	in	in	ADP
alkej-775	151	28	figure	figure	NOUN
alkej-775	151	29	(	(	PUNCT
alkej-775	151	30	4	4	NUM
alkej-775	151	31	)	)	PUNCT
alkej-775	151	32	.	.	PUNCT
alkej-775	152	1	the	the	DET
alkej-775	152	2	start	start	NOUN
alkej-775	152	3	point	point	NOUN
alkej-775	152	4	of	of	ADP
alkej-775	152	5	wmr	wmr	PROPN
alkej-775	152	6	(	(	PUNCT
alkej-775	152	7	red	red	ADJ
alkej-775	152	8	circle	circle	PROPN
alkej-775	152	9	)	)	PUNCT
alkej-775	152	10	and	and	CCONJ
alkej-775	152	11	the	the	DET
alkej-775	152	12	target	target	NOUN
alkej-775	152	13	point	point	NOUN
alkej-775	152	14	(	(	PUNCT
alkej-775	152	15	blue	blue	ADJ
alkej-775	152	16	circle	circle	NOUN
alkej-775	152	17	)	)	PUNCT
alkej-775	152	18	are	be	AUX
alkej-775	152	19	placed	place	VERB
alkej-775	152	20	at	at	ADP
alkej-775	152	21	(	(	PUNCT
alkej-775	152	22	207.15	207.15	NUM
alkej-775	152	23	,	,	PUNCT
alkej-775	152	24	318.23	318.23	NUM
alkej-775	152	25	)	)	PUNCT
alkej-775	152	26	mm	mm	PROPN
alkej-775	152	27	,	,	PUNCT
alkej-775	152	28	and	and	CCONJ
alkej-775	152	29	(	(	PUNCT
alkej-775	152	30	2048.32	2048.32	NUM
alkej-775	152	31	,	,	PUNCT
alkej-775	152	32	914.44	914.44	NUM
alkej-775	152	33	)	)	PUNCT
alkej-775	152	34	mm	mm	NOUN
alkej-775	152	35	respectively	respectively	ADV
alkej-775	152	36	as	as	SCONJ
alkej-775	152	37	shown	show	VERB
alkej-775	152	38	in	in	ADP
alkej-775	152	39	figure	figure	NOUN
alkej-775	152	40	9	9	NUM
alkej-775	152	41	.	.	PUNCT
alkej-775	152	42	fig	fig	NOUN
alkej-775	152	43	.	.	PUNCT
alkej-775	153	1	9	9	X
alkej-775	153	2	.	.	X
alkej-775	154	1	the	the	DET
alkej-775	154	2	environment	environment	NOUN
alkej-775	154	3	of	of	ADP
alkej-775	154	4	case	case	NOUN
alkej-775	154	5	3	3	X
alkej-775	154	6	.	.	PUNCT
alkej-775	155	1	the	the	DET
alkej-775	155	2	simulation	simulation	NOUN
alkej-775	155	3	result	result	NOUN
alkej-775	155	4	of	of	ADP
alkej-775	155	5	the	the	DET
alkej-775	155	6	optimum	optimum	ADJ
alkej-775	155	7	route	route	NOUN
alkej-775	155	8	for	for	ADP
alkej-775	155	9	the	the	DET
alkej-775	155	10	third	third	ADJ
alkej-775	155	11	case	case	NOUN
alkej-775	155	12	based	base	VERB
alkej-775	155	13	on	on	ADP
alkej-775	155	14	the	the	DET
alkej-775	155	15	proposed	propose	VERB
alkej-775	155	16	algorithm	algorithm	NOUN
alkej-775	155	17	is	be	AUX
alkej-775	155	18	shown	show	VERB
alkej-775	155	19	in	in	ADP
alkej-775	155	20	figure	figure	NOUN
alkej-775	155	21	10	10	NUM
alkej-775	155	22	.	.	PUNCT
alkej-775	156	1	while	while	SCONJ
alkej-775	156	2	figuring	figure	VERB
alkej-775	156	3	11	11	NUM
alkej-775	156	4	,	,	PUNCT
alkej-775	156	5	plotted	plot	VERB
alkej-775	156	6	the	the	DET
alkej-775	156	7	relation	relation	NOUN
alkej-775	156	8	of	of	ADP
alkej-775	156	9	the	the	DET
alkej-775	156	10	length	length	NOUN
alkej-775	156	11	of	of	ADP
alkej-775	156	12	the	the	DET
alkej-775	156	13	optimal	optimal	ADJ
alkej-775	156	14	path	path	NOUN
alkej-775	156	15	(	(	PUNCT
alkej-775	156	16	better	well	ADJ
alkej-775	156	17	fitness	fitness	NOUN
alkej-775	156	18	)	)	PUNCT
alkej-775	156	19	and	and	CCONJ
alkej-775	156	20	the	the	DET
alkej-775	156	21	number	number	NOUN
alkej-775	156	22	of	of	ADP
alkej-775	156	23	iterations	iteration	NOUN
alkej-775	156	24	for	for	ADP
alkej-775	156	25	estimation	estimation	NOUN
alkej-775	156	26	of	of	ADP
alkej-775	156	27	the	the	DET
alkej-775	156	28	optimal	optimal	ADJ
alkej-775	156	29	value	value	NOUN
alkej-775	156	30	of	of	ADP
alkej-775	156	31	the	the	DET
alkej-775	156	32	objective	objective	ADJ
alkej-775	156	33	function	function	NOUN
alkej-775	156	34	for	for	ADP
alkej-775	156	35	the	the	DET
alkej-775	156	36	presented	present	VERB
alkej-775	156	37	algorithm	algorithm	NOUN
alkej-775	156	38	.	.	PUNCT
alkej-775	157	1	in	in	ADP
alkej-775	157	2	the	the	DET
alkej-775	157	3	simulation	simulation	NOUN
alkej-775	157	4	results	result	NOUN
alkej-775	157	5	of	of	ADP
alkej-775	157	6	case	case	NOUN
alkej-775	157	7	three	three	NUM
alkej-775	157	8	,	,	PUNCT
alkej-775	157	9	the	the	DET
alkej-775	157	10	optimal	optimal	ADJ
alkej-775	157	11	path	path	NOUN
alkej-775	157	12	of	of	ADP
alkej-775	157	13	the	the	DET
alkej-775	157	14	gwo	gwo	NOUN
alkej-775	157	15	is	be	AUX
alkej-775	157	16	2493.03	2493.03	NUM
alkej-775	157	17	mm	mm	NOUN
alkej-775	157	18	with	with	ADP
alkej-775	157	19	a	a	DET
alkej-775	157	20	computation	computation	NOUN
alkej-775	157	21	time	time	NOUN
alkej-775	157	22	of	of	ADP
alkej-775	157	23	11.77	11.77	NUM
alkej-775	157	24	sec	sec	PROPN
alkej-775	157	25	.	.	PROPN
alkej-775	158	1	which	which	PRON
alkej-775	158	2	achieved	achieve	VERB
alkej-775	158	3	the	the	DET
alkej-775	158	4	optimal	optimal	ADJ
alkej-775	158	5	solution	solution	NOUN
alkej-775	158	6	(	(	PUNCT
alkej-775	158	7	better	well	ADJ
alkej-775	158	8	fitness	fitness	NOUN
alkej-775	158	9	)	)	PUNCT
alkej-775	158	10	.	.	PUNCT
alkej-775	159	1	start	start	VERB
alkej-775	159	2	point	point	NOUN
alkej-775	159	3	target	target	NOUN
alkej-775	159	4	point	point	NOUN
alkej-775	159	5	tahseen	tahseen	VERB
alkej-775	159	6	fadhil	fadhil	PROPN
alkej-775	159	7	abbas	abbas	PROPN
alkej-775	159	8	al	al	PROPN
alkej-775	159	9	-	-	PUNCT
alkej-775	159	10	khwarizmi	khwarizmi	PROPN
alkej-775	159	11	engineering	engineering	NOUN
alkej-775	159	12	journal	journal	PROPN
alkej-775	159	13	,	,	PUNCT
alkej-775	159	14	vol	vol	NOUN
alkej-775	159	15	.	.	PROPN
alkej-775	159	16	18	18	NUM
alkej-775	159	17	,	,	PUNCT
alkej-775	159	18	no	no	INTJ
alkej-775	159	19	.	.	NOUN
alkej-775	159	20	2	2	NUM
alkej-775	159	21	,	,	PUNCT
alkej-775	159	22	p.p	p.p	PROPN
alkej-775	159	23	.	.	NOUN
alkej-775	159	24	1328	1328	NUM
alkej-775	159	25	(	(	PUNCT
alkej-775	159	26	2022	2022	NUM
alkej-775	159	27	)	)	PUNCT
alkej-775	159	28	21	21	NUM
alkej-775	159	29	fig	fig	NOUN
alkej-775	159	30	.	.	PUNCT
alkej-775	160	1	10	10	NUM
alkej-775	160	2	.	.	X
alkej-775	160	3	path	path	NOUN
alkej-775	160	4	found	find	VERB
alkej-775	160	5	by	by	ADP
alkej-775	160	6	gwo	gwo	PROPN
alkej-775	160	7	algorithm	algorithm	PROPN
alkej-775	160	8	for	for	ADP
alkej-775	160	9	case	case	NOUN
alkej-775	160	10	3	3	NUM
alkej-775	160	11	.	.	X
alkej-775	160	12	fig	fig	NOUN
alkej-775	160	13	.	.	PUNCT
alkej-775	161	1	11	11	NUM
alkej-775	161	2	.	.	PUNCT
alkej-775	162	1	best	good	ADJ
alkej-775	162	2	distance	distance	NOUN
alkej-775	162	3	function	function	NOUN
alkej-775	162	4	founded	found	VERB
alkej-775	162	5	by	by	ADP
alkej-775	162	6	gwo	gwo	PROPN
alkej-775	162	7	algorithm	algorithm	NOUN
alkej-775	162	8	for	for	ADP
alkej-775	162	9	case	case	NOUN
alkej-775	162	10	3	3	NUM
alkej-775	162	11	.	.	X
alkej-775	162	12	6.2.1	6.2.1	NUM
alkej-775	162	13	evaluation	evaluation	NOUN
alkej-775	162	14	of	of	ADP
alkej-775	162	15	design	design	NOUN
alkej-775	162	16	parameters	parameter	NOUN
alkej-775	162	17	effects	effect	NOUN
alkej-775	162	18	on	on	ADP
alkej-775	162	19	gwo	gwo	PROPN
alkej-775	162	20	algorithm	algorithm	PROPN
alkej-775	162	21	performance	performance	NOUN
alkej-775	162	22	the	the	DET
alkej-775	162	23	evaluation	evaluation	NOUN
alkej-775	162	24	is	be	AUX
alkej-775	162	25	made	make	VERB
alkej-775	162	26	by	by	ADP
alkej-775	162	27	summarizing	summarize	VERB
alkej-775	162	28	the	the	DET
alkej-775	162	29	results	result	NOUN
alkej-775	162	30	for	for	ADP
alkej-775	162	31	gwo	gwo	NOUN
alkej-775	162	32	of	of	ADP
alkej-775	162	33	the	the	DET
alkej-775	162	34	three	three	NUM
alkej-775	162	35	cases	case	NOUN
alkej-775	162	36	environments	environment	NOUN
alkej-775	162	37	after	after	ADP
alkej-775	162	38	executing	execute	VERB
alkej-775	162	39	the	the	DET
alkej-775	162	40	algorithm	algorithm	NOUN
alkej-775	162	41	10	10	NUM
alkej-775	162	42	times	time	NOUN
alkej-775	162	43	with	with	ADP
alkej-775	162	44	four	four	NUM
alkej-775	162	45	ranges	range	NOUN
alkej-775	162	46	of	of	ADP
alkej-775	162	47	the	the	DET
alkej-775	162	48	number	number	NOUN
alkej-775	162	49	of	of	ADP
alkej-775	162	50	iterations	iteration	NOUN
alkej-775	162	51	(	(	PUNCT
alkej-775	162	52	10	10	NUM
alkej-775	162	53	,	,	PUNCT
alkej-775	162	54	20	20	NUM
alkej-775	162	55	,	,	PUNCT
alkej-775	162	56	40	40	NUM
alkej-775	162	57	,	,	PUNCT
alkej-775	162	58	80	80	NUM
alkej-775	162	59	)	)	PUNCT
alkej-775	162	60	to	to	PART
alkej-775	162	61	evaluate	evaluate	VERB
alkej-775	162	62	the	the	DET
alkej-775	162	63	performance	performance	NOUN
alkej-775	162	64	results	result	NOUN
alkej-775	162	65	of	of	ADP
alkej-775	162	66	the	the	DET
alkej-775	162	67	proposed	propose	VERB
alkej-775	162	68	algorithm	algorithm	NOUN
alkej-775	162	69	,	,	PUNCT
alkej-775	162	70	on	on	ADP
alkej-775	162	71	the	the	DET
alkej-775	162	72	length	length	NOUN
alkej-775	162	73	of	of	ADP
alkej-775	162	74	the	the	DET
alkej-775	162	75	path	path	NOUN
alkej-775	162	76	and	and	CCONJ
alkej-775	162	77	reducing	reduce	VERB
alkej-775	162	78	simulation	simulation	NOUN
alkej-775	162	79	time	time	NOUN
alkej-775	162	80	.	.	PUNCT
alkej-775	163	1	each	each	DET
alkej-775	163	2	environment	environment	NOUN
alkej-775	163	3	has	have	VERB
alkej-775	163	4	four	four	NUM
alkej-775	163	5	paths	path	NOUN
alkej-775	163	6	of	of	ADP
alkej-775	163	7	safe	safe	ADJ
alkej-775	163	8	paths	path	NOUN
alkej-775	163	9	as	as	ADP
alkej-775	163	10	the	the	DET
alkej-775	163	11	first	first	ADJ
alkej-775	163	12	step	step	NOUN
alkej-775	163	13	and	and	CCONJ
alkej-775	163	14	distances	distance	NOUN
alkej-775	163	15	of	of	ADP
alkej-775	163	16	these	these	DET
alkej-775	163	17	four	four	NUM
alkej-775	163	18	paths	path	NOUN
alkej-775	163	19	between	between	ADP
alkej-775	163	20	start	start	NOUN
alkej-775	163	21	point	point	NOUN
alkej-775	163	22	to	to	PART
alkej-775	163	23	target	target	NOUN
alkej-775	163	24	point	point	NOUN
alkej-775	163	25	are	be	AUX
alkej-775	163	26	determined	determine	VERB
alkej-775	163	27	depending	depend	VERB
alkej-775	163	28	on	on	ADP
alkej-775	163	29	eq	eq	NOUN
alkej-775	163	30	.	.	PROPN
alkej-775	164	1	1	1	NUM
alkej-775	164	2	.	.	X
alkej-775	164	3	the	the	DET
alkej-775	164	4	best	good	ADJ
alkej-775	164	5	path	path	NOUN
alkej-775	164	6	length	length	NOUN
alkej-775	164	7	is	be	AUX
alkej-775	164	8	the	the	DET
alkej-775	164	9	optimal	optimal	ADJ
alkej-775	164	10	path	path	NOUN
alkej-775	164	11	between	between	ADP
alkej-775	164	12	the	the	DET
alkej-775	164	13	four	four	NUM
alkej-775	164	14	best	good	ADJ
alkej-775	164	15	paths	path	NOUN
alkej-775	164	16	achieved	achieve	VERB
alkej-775	164	17	by	by	ADP
alkej-775	164	18	the	the	DET
alkej-775	164	19	algorithm	algorithm	NOUN
alkej-775	164	20	in	in	ADP
alkej-775	164	21	this	this	DET
alkej-775	164	22	work	work	NOUN
alkej-775	164	23	.	.	PUNCT
alkej-775	165	1	the	the	DET
alkej-775	165	2	black	black	ADJ
alkej-775	165	3	path	path	NOUN
alkej-775	165	4	is	be	AUX
alkej-775	165	5	the	the	DET
alkej-775	165	6	best	good	ADJ
alkej-775	165	7	path	path	NOUN
alkej-775	165	8	between	between	ADP
alkej-775	165	9	the	the	DET
alkej-775	165	10	four	four	NUM
alkej-775	165	11	optimal	optimal	ADJ
alkej-775	165	12	paths	path	NOUN
alkej-775	165	13	achieved	achieve	VERB
alkej-775	165	14	by	by	ADP
alkej-775	165	15	the	the	DET
alkej-775	165	16	algorithm	algorithm	NOUN
alkej-775	165	17	.	.	PUNCT
alkej-775	166	1	the	the	DET
alkej-775	166	2	best	good	ADJ
alkej-775	166	3	path	path	NOUN
alkej-775	166	4	was	be	AUX
alkej-775	166	5	selected	select	VERB
alkej-775	166	6	depending	depend	VERB
alkej-775	166	7	on	on	ADP
alkej-775	166	8	concerning	concern	VERB
alkej-775	166	9	the	the	DET
alkej-775	166	10	safety	safety	NOUN
alkej-775	166	11	of	of	ADP
alkej-775	166	12	the	the	DET
alkej-775	166	13	path	path	NOUN
alkej-775	166	14	,	,	PUNCT
alkej-775	166	15	path	path	NOUN
alkej-775	166	16	length	length	NOUN
alkej-775	166	17	.	.	PUNCT
alkej-775	167	1	the	the	DET
alkej-775	167	2	performance	performance	NOUN
alkej-775	167	3	comparison	comparison	NOUN
alkej-775	167	4	of	of	ADP
alkej-775	167	5	the	the	DET
alkej-775	167	6	presented	present	VERB
alkej-775	167	7	algorithm	algorithm	NOUN
alkej-775	167	8	was	be	AUX
alkej-775	167	9	measured	measure	VERB
alkej-775	167	10	based	base	VERB
alkej-775	167	11	on	on	ADP
alkej-775	167	12	the	the	DET
alkej-775	167	13	path	path	NOUN
alkej-775	167	14	length	length	NOUN
alkej-775	167	15	,	,	PUNCT
alkej-775	167	16	the	the	DET
alkej-775	167	17	simulation	simulation	NOUN
alkej-775	167	18	time	time	NOUN
alkej-775	167	19	.	.	PUNCT
alkej-775	168	1	case	case	NOUN
alkej-775	168	2	study	study	VERB
alkej-775	168	3	one	one	NUM
alkej-775	168	4	:	:	PUNCT
alkej-775	168	5	the	the	DET
alkej-775	168	6	simulation	simulation	NOUN
alkej-775	168	7	results	result	VERB
alkej-775	168	8	of	of	ADP
alkej-775	168	9	case	case	NOUN
alkej-775	168	10	one	one	NUM
alkej-775	168	11	,	,	PUNCT
alkej-775	168	12	for	for	ADP
alkej-775	168	13	the	the	DET
alkej-775	168	14	gwo	gwo	PROPN
alkej-775	168	15	algorithm	algorithm	PROPN
alkej-775	168	16	,	,	PUNCT
alkej-775	168	17	with	with	ADP
alkej-775	168	18	four	four	NUM
alkej-775	168	19	ranges	range	NOUN
alkej-775	168	20	of	of	ADP
alkej-775	168	21	the	the	DET
alkej-775	168	22	number	number	NOUN
alkej-775	168	23	of	of	ADP
alkej-775	168	24	iterations	iteration	NOUN
alkej-775	168	25	as	as	SCONJ
alkej-775	168	26	shown	show	VERB
alkej-775	168	27	in	in	ADP
alkej-775	168	28	figure	figure	NOUN
alkej-775	168	29	12	12	NUM
alkej-775	168	30	.	.	PUNCT
alkej-775	169	1	in	in	ADP
alkej-775	169	2	the	the	DET
alkej-775	169	3	first	first	ADJ
alkej-775	169	4	path	path	NOUN
alkej-775	169	5	with	with	ADP
alkej-775	169	6	10	10	NUM
alkej-775	169	7	iterations	iteration	NOUN
alkej-775	169	8	,	,	PUNCT
alkej-775	169	9	the	the	DET
alkej-775	169	10	optimal	optimal	ADJ
alkej-775	169	11	path	path	NOUN
alkej-775	169	12	is	be	AUX
alkej-775	169	13	equal	equal	ADJ
alkej-775	169	14	to	to	ADP
alkej-775	169	15	2264.36	2264.36	NUM
alkej-775	169	16	mm	mm	NOUN
alkej-775	169	17	with	with	ADP
alkej-775	169	18	a	a	DET
alkej-775	169	19	computation	computation	NOUN
alkej-775	169	20	time	time	NOUN
alkej-775	169	21	of	of	ADP
alkej-775	169	22	8.44	8.44	NUM
alkej-775	169	23	sec	sec	PROPN
alkej-775	169	24	.	.	PUNCT
alkej-775	170	1	the	the	DET
alkej-775	170	2	optimal	optimal	ADJ
alkej-775	170	3	path	path	NOUN
alkej-775	170	4	of	of	ADP
alkej-775	170	5	the	the	DET
alkej-775	170	6	second	second	ADJ
alkej-775	170	7	path	path	NOUN
alkej-775	170	8	with	with	ADP
alkej-775	170	9	20	20	NUM
alkej-775	170	10	iterations	iteration	NOUN
alkej-775	170	11	is	be	AUX
alkej-775	170	12	equal	equal	ADJ
alkej-775	170	13	to	to	ADP
alkej-775	170	14	2259.79	2259.79	NUM
alkej-775	170	15	mm	mm	NOUN
alkej-775	170	16	with	with	ADP
alkej-775	170	17	a	a	DET
alkej-775	170	18	computation	computation	NOUN
alkej-775	170	19	time	time	NOUN
alkej-775	170	20	of	of	ADP
alkej-775	170	21	8.55	8.55	NUM
alkej-775	170	22	sec	sec	PROPN
alkej-775	170	23	.	.	PUNCT
alkej-775	171	1	the	the	DET
alkej-775	171	2	optimal	optimal	ADJ
alkej-775	171	3	path	path	NOUN
alkej-775	171	4	of	of	ADP
alkej-775	171	5	the	the	DET
alkej-775	171	6	third	third	ADJ
alkej-775	171	7	path	path	NOUN
alkej-775	171	8	with	with	ADP
alkej-775	171	9	40	40	NUM
alkej-775	171	10	iterations	iteration	NOUN
alkej-775	171	11	is	be	AUX
alkej-775	171	12	equal	equal	ADJ
alkej-775	171	13	to	to	ADP
alkej-775	171	14	2256.82	2256.82	NUM
alkej-775	171	15	mm	mm	NOUN
alkej-775	171	16	with	with	ADP
alkej-775	171	17	a	a	DET
alkej-775	171	18	computation	computation	NOUN
alkej-775	171	19	time	time	NOUN
alkej-775	171	20	of	of	ADP
alkej-775	171	21	8.96	8.96	NUM
alkej-775	171	22	sec	sec	PROPN
alkej-775	171	23	.	.	PROPN
alkej-775	172	1	for	for	ADP
alkej-775	172	2	the	the	DET
alkej-775	172	3	fourth	fourth	ADJ
alkej-775	172	4	path	path	NOUN
alkej-775	172	5	with	with	ADP
alkej-775	172	6	80	80	NUM
alkej-775	172	7	iterations	iteration	NOUN
alkej-775	172	8	,	,	PUNCT
alkej-775	172	9	the	the	DET
alkej-775	172	10	optimal	optimal	ADJ
alkej-775	172	11	path	path	NOUN
alkej-775	172	12	of	of	ADP
alkej-775	172	13	the	the	DET
alkej-775	172	14	gwo	gwo	NOUN
alkej-775	172	15	is	be	AUX
alkej-775	172	16	equal	equal	ADJ
alkej-775	172	17	to	to	ADP
alkej-775	172	18	2252.24	2252.24	NUM
alkej-775	172	19	mm	mm	NOUN
alkej-775	172	20	with	with	ADP
alkej-775	172	21	a	a	DET
alkej-775	172	22	tahseen	tahseen	VERB
alkej-775	172	23	fadhil	fadhil	NOUN
alkej-775	172	24	abbas	abbas	PROPN
alkej-775	172	25	al	al	PROPN
alkej-775	172	26	-	-	PUNCT
alkej-775	172	27	khwarizmi	khwarizmi	PROPN
alkej-775	172	28	engineering	engineering	NOUN
alkej-775	172	29	journal	journal	PROPN
alkej-775	172	30	,	,	PUNCT
alkej-775	172	31	vol	vol	NOUN
alkej-775	172	32	.	.	PROPN
alkej-775	172	33	18	18	NUM
alkej-775	172	34	,	,	PUNCT
alkej-775	172	35	no	no	INTJ
alkej-775	172	36	.	.	NOUN
alkej-775	172	37	2	2	NUM
alkej-775	172	38	,	,	PUNCT
alkej-775	172	39	p.p	p.p	PROPN
alkej-775	172	40	.	.	NOUN
alkej-775	172	41	1328	1328	NUM
alkej-775	172	42	(	(	PUNCT
alkej-775	172	43	2022	2022	NUM
alkej-775	172	44	)	)	PUNCT
alkej-775	172	45	22	22	NUM
alkej-775	172	46	computation	computation	NOUN
alkej-775	172	47	time	time	NOUN
alkej-775	172	48	of	of	ADP
alkej-775	172	49	9.03	9.03	NUM
alkej-775	172	50	sec	sec	PROPN
alkej-775	172	51	,	,	PUNCT
alkej-775	172	52	which	which	PRON
alkej-775	172	53	achieved	achieve	VERB
alkej-775	172	54	the	the	DET
alkej-775	172	55	optimal	optimal	ADJ
alkej-775	172	56	solution	solution	NOUN
alkej-775	172	57	(	(	PUNCT
alkej-775	172	58	better	well	ADJ
alkej-775	172	59	fitness	fitness	NOUN
alkej-775	172	60	)	)	PUNCT
alkej-775	172	61	.	.	PUNCT
alkej-775	173	1	case	case	NOUN
alkej-775	173	2	study	study	NOUN
alkej-775	173	3	two	two	NUM
alkej-775	173	4	:	:	PUNCT
alkej-775	173	5	in	in	ADP
alkej-775	173	6	case	case	NOUN
alkej-775	173	7	two	two	NUM
alkej-775	173	8	as	as	SCONJ
alkej-775	173	9	shown	show	VERB
alkej-775	173	10	in	in	ADP
alkej-775	173	11	figure	figure	NOUN
alkej-775	173	12	14	14	NUM
alkej-775	173	13	,	,	PUNCT
alkej-775	173	14	the	the	DET
alkej-775	173	15	simulation	simulation	NOUN
alkej-775	173	16	results	result	NOUN
alkej-775	173	17	of	of	ADP
alkej-775	173	18	the	the	DET
alkej-775	173	19	gwo	gwo	PROPN
alkej-775	173	20	algorithm	algorithm	NOUN
alkej-775	173	21	with	with	ADP
alkej-775	173	22	a	a	DET
alkej-775	173	23	first	first	ADJ
alkej-775	173	24	range	range	NOUN
alkej-775	173	25	of	of	ADP
alkej-775	173	26	the	the	DET
alkej-775	173	27	number	number	NOUN
alkej-775	173	28	of	of	ADP
alkej-775	173	29	iterations	iteration	NOUN
alkej-775	173	30	,	,	PUNCT
alkej-775	173	31	the	the	DET
alkej-775	173	32	optimal	optimal	ADJ
alkej-775	173	33	path	path	NOUN
alkej-775	173	34	is	be	AUX
alkej-775	173	35	equal	equal	ADJ
alkej-775	173	36	to	to	ADP
alkej-775	173	37	2685.25	2685.25	NUM
alkej-775	173	38	mm	mm	NOUN
alkej-775	173	39	with	with	ADP
alkej-775	173	40	a	a	DET
alkej-775	173	41	computation	computation	NOUN
alkej-775	173	42	time	time	NOUN
alkej-775	173	43	of	of	ADP
alkej-775	173	44	8.48	8.48	NUM
alkej-775	173	45	sec	sec	PROPN
alkej-775	173	46	.	.	PUNCT
alkej-775	174	1	the	the	DET
alkej-775	174	2	shortest	short	ADJ
alkej-775	174	3	path	path	NOUN
alkej-775	174	4	of	of	ADP
alkej-775	174	5	the	the	DET
alkej-775	174	6	second	second	ADJ
alkej-775	174	7	range	range	NOUN
alkej-775	174	8	of	of	ADP
alkej-775	174	9	iterations	iteration	NOUN
alkej-775	174	10	is	be	AUX
alkej-775	174	11	equal	equal	ADJ
alkej-775	174	12	to	to	ADP
alkej-775	174	13	2513.48	2513.48	NUM
alkej-775	174	14	mm	mm	NOUN
alkej-775	174	15	with	with	ADP
alkej-775	174	16	a	a	DET
alkej-775	174	17	computation	computation	NOUN
alkej-775	174	18	time	time	NOUN
alkej-775	174	19	of	of	ADP
alkej-775	174	20	9.10	9.10	NUM
alkej-775	174	21	sec	sec	PROPN
alkej-775	174	22	.	.	PUNCT
alkej-775	175	1	the	the	DET
alkej-775	175	2	optimal	optimal	ADJ
alkej-775	175	3	path	path	NOUN
alkej-775	175	4	of	of	ADP
alkej-775	175	5	the	the	DET
alkej-775	175	6	third	third	NOUN
alkej-775	175	7	of	of	ADP
alkej-775	175	8	iterations	iteration	NOUN
alkej-775	175	9	is	be	AUX
alkej-775	175	10	equal	equal	ADJ
alkej-775	175	11	to	to	ADP
alkej-775	175	12	2495.37	2495.37	NUM
alkej-775	175	13	mm	mm	NOUN
alkej-775	175	14	with	with	ADP
alkej-775	175	15	a	a	DET
alkej-775	175	16	computation	computation	NOUN
alkej-775	175	17	time	time	NOUN
alkej-775	175	18	of	of	ADP
alkej-775	175	19	9.89	9.89	NUM
alkej-775	175	20	sec	sec	PROPN
alkej-775	175	21	.	.	PUNCT
alkej-775	176	1	for	for	ADP
alkej-775	176	2	the	the	DET
alkej-775	176	3	fourth	fourth	ADJ
alkej-775	176	4	path	path	NOUN
alkej-775	176	5	with	with	ADP
alkej-775	176	6	the	the	DET
alkej-775	176	7	fourth	fourth	ADJ
alkej-775	176	8	range	range	NOUN
alkej-775	176	9	of	of	ADP
alkej-775	176	10	iterations	iteration	NOUN
alkej-775	176	11	,	,	PUNCT
alkej-775	176	12	the	the	DET
alkej-775	176	13	best	good	ADJ
alkej-775	176	14	path	path	NOUN
alkej-775	176	15	of	of	ADP
alkej-775	176	16	the	the	DET
alkej-775	176	17	gwo	gwo	NOUN
alkej-775	176	18	is	be	AUX
alkej-775	176	19	equal	equal	ADJ
alkej-775	176	20	to	to	ADP
alkej-775	176	21	2493.03	2493.03	NUM
alkej-775	176	22	mm	mm	NOUN
alkej-775	176	23	with	with	ADP
alkej-775	176	24	a	a	DET
alkej-775	176	25	computation	computation	NOUN
alkej-775	176	26	time	time	NOUN
alkej-775	176	27	of	of	ADP
alkej-775	176	28	10.59	10.59	NUM
alkej-775	176	29	sec	sec	PROPN
alkej-775	176	30	,	,	PUNCT
alkej-775	176	31	which	which	PRON
alkej-775	176	32	achieved	achieve	VERB
alkej-775	176	33	the	the	DET
alkej-775	176	34	optimal	optimal	ADJ
alkej-775	176	35	solution	solution	NOUN
alkej-775	176	36	(	(	PUNCT
alkej-775	176	37	better	well	ADJ
alkej-775	176	38	fitness	fitness	NOUN
alkej-775	176	39	)	)	PUNCT
alkej-775	176	40	.	.	PUNCT
alkej-775	177	1	case	case	NOUN
alkej-775	177	2	study	study	NOUN
alkej-775	177	3	three	three	NUM
alkej-775	177	4	:	:	PUNCT
alkej-775	177	5	the	the	DET
alkej-775	177	6	simulation	simulation	NOUN
alkej-775	177	7	results	result	VERB
alkej-775	177	8	of	of	ADP
alkej-775	177	9	case	case	NOUN
alkej-775	177	10	three	three	NUM
alkej-775	177	11	as	as	SCONJ
alkej-775	177	12	shown	show	VERB
alkej-775	177	13	in	in	ADP
alkej-775	177	14	figure	figure	NOUN
alkej-775	177	15	16	16	NUM
alkej-775	177	16	,	,	PUNCT
alkej-775	177	17	for	for	ADP
alkej-775	177	18	the	the	DET
alkej-775	177	19	gwo	gwo	PROPN
alkej-775	177	20	algorithm	algorithm	NOUN
alkej-775	177	21	,	,	PUNCT
alkej-775	177	22	for	for	ADP
alkej-775	177	23	the	the	DET
alkej-775	177	24	first	first	ADJ
alkej-775	177	25	path	path	NOUN
alkej-775	177	26	with	with	ADP
alkej-775	177	27	10	10	NUM
alkej-775	177	28	iterations	iteration	NOUN
alkej-775	177	29	,	,	PUNCT
alkej-775	177	30	the	the	DET
alkej-775	177	31	optimal	optimal	ADJ
alkej-775	177	32	path	path	NOUN
alkej-775	177	33	is	be	AUX
alkej-775	177	34	equal	equal	ADJ
alkej-775	177	35	to	to	ADP
alkej-775	177	36	2452.54	2452.54	NUM
alkej-775	177	37	mm	mm	NOUN
alkej-775	177	38	with	with	ADP
alkej-775	177	39	a	a	DET
alkej-775	177	40	computation	computation	NOUN
alkej-775	177	41	time	time	NOUN
alkej-775	177	42	of	of	ADP
alkej-775	177	43	8.44	8.44	NUM
alkej-775	177	44	sec	sec	PROPN
alkej-775	177	45	.	.	PUNCT
alkej-775	178	1	the	the	DET
alkej-775	178	2	optimal	optimal	ADJ
alkej-775	178	3	path	path	NOUN
alkej-775	178	4	of	of	ADP
alkej-775	178	5	the	the	DET
alkej-775	178	6	second	second	ADJ
alkej-775	178	7	range	range	NOUN
alkej-775	178	8	of	of	ADP
alkej-775	178	9	iterations	iteration	NOUN
alkej-775	178	10	is	be	AUX
alkej-775	178	11	equal	equal	ADJ
alkej-775	178	12	to	to	ADP
alkej-775	178	13	2438.49	2438.49	NUM
alkej-775	178	14	mm	mm	NOUN
alkej-775	178	15	with	with	ADP
alkej-775	178	16	a	a	DET
alkej-775	178	17	computation	computation	NOUN
alkej-775	178	18	time	time	NOUN
alkej-775	178	19	of	of	ADP
alkej-775	178	20	9.12	9.12	NUM
alkej-775	178	21	sec	sec	PROPN
alkej-775	178	22	.	.	PUNCT
alkej-775	179	1	the	the	DET
alkej-775	179	2	optimal	optimal	ADJ
alkej-775	179	3	path	path	NOUN
alkej-775	179	4	of	of	ADP
alkej-775	179	5	the	the	DET
alkej-775	179	6	third	third	ADJ
alkej-775	179	7	path	path	NOUN
alkej-775	179	8	with	with	ADP
alkej-775	179	9	40	40	NUM
alkej-775	179	10	iterations	iteration	NOUN
alkej-775	179	11	is	be	AUX
alkej-775	179	12	equal	equal	ADJ
alkej-775	179	13	to	to	ADP
alkej-775	179	14	2433.38	2433.38	NUM
alkej-775	179	15	mm	mm	NOUN
alkej-775	179	16	with	with	ADP
alkej-775	179	17	a	a	DET
alkej-775	179	18	computation	computation	NOUN
alkej-775	179	19	time	time	NOUN
alkej-775	179	20	of	of	ADP
alkej-775	179	21	10.57	10.57	NUM
alkej-775	179	22	sec	sec	PROPN
alkej-775	179	23	.	.	PROPN
alkej-775	180	1	for	for	ADP
alkej-775	180	2	the	the	DET
alkej-775	180	3	fourth	fourth	ADJ
alkej-775	180	4	path	path	NOUN
alkej-775	180	5	with	with	ADP
alkej-775	180	6	the	the	DET
alkej-775	180	7	fourth	fourth	ADJ
alkej-775	180	8	range	range	NOUN
alkej-775	180	9	of	of	ADP
alkej-775	180	10	iterations	iteration	NOUN
alkej-775	180	11	,	,	PUNCT
alkej-775	180	12	the	the	DET
alkej-775	180	13	optimal	optimal	ADJ
alkej-775	180	14	path	path	NOUN
alkej-775	180	15	of	of	ADP
alkej-775	180	16	the	the	DET
alkej-775	180	17	gwo	gwo	NOUN
alkej-775	180	18	is	be	AUX
alkej-775	180	19	equal	equal	ADJ
alkej-775	180	20	to	to	ADP
alkej-775	180	21	2430.19	2430.19	NUM
alkej-775	180	22	mm	mm	NOUN
alkej-775	180	23	with	with	ADP
alkej-775	180	24	a	a	DET
alkej-775	180	25	computation	computation	NOUN
alkej-775	180	26	time	time	NOUN
alkej-775	180	27	of	of	ADP
alkej-775	180	28	11.77	11.77	NUM
alkej-775	180	29	sec	sec	PROPN
alkej-775	180	30	,	,	PUNCT
alkej-775	180	31	which	which	PRON
alkej-775	180	32	achieved	achieve	VERB
alkej-775	180	33	the	the	DET
alkej-775	180	34	optimal	optimal	ADJ
alkej-775	180	35	solution	solution	NOUN
alkej-775	180	36	(	(	PUNCT
alkej-775	180	37	better	well	ADJ
alkej-775	180	38	fitness	fitness	NOUN
alkej-775	180	39	)	)	PUNCT
alkej-775	180	40	.	.	PUNCT
alkej-775	181	1	the	the	DET
alkej-775	181	2	performance	performance	NOUN
alkej-775	181	3	results	result	NOUN
alkej-775	181	4	of	of	ADP
alkej-775	181	5	the	the	DET
alkej-775	181	6	proposed	propose	VERB
alkej-775	181	7	gwo	gwo	PROPN
alkej-775	181	8	algorithm	algorithm	PROPN
alkej-775	181	9	are	be	AUX
alkej-775	181	10	summarized	summarize	VERB
alkej-775	181	11	in	in	ADP
alkej-775	181	12	table	table	NOUN
alkej-775	181	13	2	2	NUM
alkej-775	181	14	.	.	PUNCT
alkej-775	182	1	the	the	DET
alkej-775	182	2	performance	performance	NOUN
alkej-775	182	3	comparison	comparison	NOUN
alkej-775	182	4	of	of	ADP
alkej-775	182	5	the	the	DET
alkej-775	182	6	gwo	gwo	NOUN
alkej-775	182	7	was	be	AUX
alkej-775	182	8	showed	show	VERB
alkej-775	182	9	a	a	DET
alkej-775	182	10	relationship	relationship	NOUN
alkej-775	182	11	between	between	ADP
alkej-775	182	12	the	the	DET
alkej-775	182	13	number	number	NOUN
alkej-775	182	14	of	of	ADP
alkej-775	182	15	obstacles	obstacle	NOUN
alkej-775	182	16	and	and	CCONJ
alkej-775	182	17	the	the	DET
alkej-775	182	18	number	number	NOUN
alkej-775	182	19	of	of	ADP
alkej-775	182	20	iterations	iteration	NOUN
alkej-775	182	21	to	to	PART
alkej-775	182	22	find	find	VERB
alkej-775	182	23	a	a	DET
alkej-775	182	24	safe	safe	ADJ
alkej-775	182	25	and	and	CCONJ
alkej-775	182	26	shortest	short	ADJ
alkej-775	182	27	path	path	NOUN
alkej-775	182	28	with	with	ADP
alkej-775	182	29	reduce	reduce	VERB
alkej-775	182	30	simulation	simulation	NOUN
alkej-775	182	31	time	time	NOUN
alkej-775	182	32	.	.	PUNCT
alkej-775	183	1	results	result	NOUN
alkej-775	183	2	indicated	indicate	VERB
alkej-775	183	3	that	that	SCONJ
alkej-775	183	4	a	a	DET
alkej-775	183	5	uniform	uniform	ADJ
alkej-775	183	6	increase	increase	NOUN
alkej-775	183	7	of	of	ADP
alkej-775	183	8	obstacles	obstacle	NOUN
alkej-775	183	9	is	be	AUX
alkej-775	183	10	mostly	mostly	ADV
alkej-775	183	11	solved	solve	VERB
alkej-775	183	12	by	by	ADP
alkej-775	183	13	a	a	DET
alkej-775	183	14	moderate	moderate	ADJ
alkej-775	183	15	increase	increase	NOUN
alkej-775	183	16	in	in	ADP
alkej-775	183	17	the	the	DET
alkej-775	183	18	number	number	NOUN
alkej-775	183	19	of	of	ADP
alkej-775	183	20	iterations	iteration	NOUN
alkej-775	183	21	to	to	PART
alkej-775	183	22	ensure	ensure	VERB
alkej-775	183	23	reduced	reduce	VERB
alkej-775	183	24	simulation	simulation	NOUN
alkej-775	183	25	time	time	NOUN
alkej-775	183	26	without	without	ADP
alkej-775	183	27	collision	collision	NOUN
alkej-775	183	28	with	with	ADP
alkej-775	183	29	obstacles	obstacle	NOUN
alkej-775	183	30	as	as	SCONJ
alkej-775	183	31	shown	show	VERB
alkej-775	183	32	in	in	ADP
alkej-775	183	33	figures	figure	NOUN
alkej-775	183	34	13	13	NUM
alkej-775	183	35	,	,	PUNCT
alkej-775	183	36	15	15	NUM
alkej-775	183	37	,	,	PUNCT
alkej-775	183	38	and	and	CCONJ
alkej-775	184	1	17	17	NUM
alkej-775	184	2	.	.	PUNCT
alkej-775	184	3	fig	fig	NOUN
alkej-775	184	4	.	.	PUNCT
alkej-775	185	1	12	12	NUM
alkej-775	185	2	.	.	PUNCT
alkej-775	185	3	path	path	NOUN
alkej-775	185	4	found	find	VERB
alkej-775	185	5	by	by	ADP
alkej-775	185	6	gwo	gwo	PROPN
alkej-775	185	7	algorithm	algorithm	PROPN
alkej-775	185	8	for	for	ADP
alkej-775	185	9	case	case	NOUN
alkej-775	185	10	1	1	NUM
alkej-775	185	11	.	.	PUNCT
alkej-775	185	12	fig	fig	NOUN
alkej-775	185	13	.	.	PUNCT
alkej-775	186	1	13.the	13.the	DET
alkej-775	186	2	execution	execution	NOUN
alkej-775	186	3	time	time	NOUN
alkej-775	186	4	of	of	ADP
alkej-775	186	5	the	the	DET
alkej-775	186	6	gwo	gwo	PROPN
alkej-775	186	7	algorithm	algorithm	NOUN
alkej-775	186	8	for	for	ADP
alkej-775	186	9	case	case	NOUN
alkej-775	186	10	1	1	NUM
alkej-775	186	11	.	.	PUNCT
alkej-775	186	12	tahseen	tahseen	PROPN
alkej-775	186	13	fadhil	fadhil	PROPN
alkej-775	186	14	abbas	abbas	PROPN
alkej-775	186	15	al	al	PROPN
alkej-775	186	16	-	-	PUNCT
alkej-775	186	17	khwarizmi	khwarizmi	PROPN
alkej-775	186	18	engineering	engineering	NOUN
alkej-775	186	19	journal	journal	PROPN
alkej-775	186	20	,	,	PUNCT
alkej-775	186	21	vol	vol	NOUN
alkej-775	186	22	.	.	PROPN
alkej-775	186	23	18	18	NUM
alkej-775	186	24	,	,	PUNCT
alkej-775	186	25	no	no	INTJ
alkej-775	186	26	.	.	NOUN
alkej-775	186	27	2	2	NUM
alkej-775	186	28	,	,	PUNCT
alkej-775	186	29	p.p	p.p	PROPN
alkej-775	186	30	.	.	NOUN
alkej-775	186	31	1328	1328	NUM
alkej-775	186	32	(	(	PUNCT
alkej-775	186	33	2022	2022	NUM
alkej-775	186	34	)	)	PUNCT
alkej-775	186	35	23	23	NUM
alkej-775	186	36	fig	fig	NOUN
alkej-775	186	37	.	.	PUNCT
alkej-775	187	1	14	14	NUM
alkej-775	187	2	.	.	PUNCT
alkej-775	187	3	path	path	NOUN
alkej-775	187	4	found	find	VERB
alkej-775	187	5	by	by	ADP
alkej-775	187	6	gwo	gwo	PROPN
alkej-775	187	7	algorithm	algorithm	PROPN
alkej-775	187	8	for	for	ADP
alkej-775	187	9	case	case	NOUN
alkej-775	187	10	2	2	NUM
alkej-775	187	11	.	.	X
alkej-775	187	12	fig	fig	NOUN
alkej-775	187	13	.	.	PUNCT
alkej-775	188	1	15	15	NUM
alkej-775	188	2	.	.	PUNCT
alkej-775	189	1	the	the	DET
alkej-775	189	2	execution	execution	NOUN
alkej-775	189	3	time	time	NOUN
alkej-775	189	4	of	of	ADP
alkej-775	189	5	the	the	DET
alkej-775	189	6	gwo	gwo	PROPN
alkej-775	189	7	algorithm	algorithm	NOUN
alkej-775	189	8	for	for	ADP
alkej-775	189	9	case	case	NOUN
alkej-775	189	10	2	2	NUM
alkej-775	189	11	.	.	X
alkej-775	189	12	fig	fig	NOUN
alkej-775	189	13	.	.	PUNCT
alkej-775	190	1	17	17	NUM
alkej-775	190	2	.	.	PUNCT
alkej-775	191	1	the	the	DET
alkej-775	191	2	execution	execution	NOUN
alkej-775	191	3	time	time	NOUN
alkej-775	191	4	of	of	ADP
alkej-775	191	5	the	the	DET
alkej-775	191	6	gwo	gwo	PROPN
alkej-775	191	7	algorithm	algorithm	NOUN
alkej-775	191	8	for	for	ADP
alkej-775	191	9	case	case	NOUN
alkej-775	191	10	3	3	NUM
alkej-775	191	11	tahseen	tahseen	NOUN
alkej-775	191	12	fadhil	fadhil	PROPN
alkej-775	191	13	abbas	abbas	PROPN
alkej-775	191	14	al	al	PROPN
alkej-775	191	15	-	-	PUNCT
alkej-775	191	16	khwarizmi	khwarizmi	PROPN
alkej-775	191	17	engineering	engineering	NOUN
alkej-775	191	18	journal	journal	PROPN
alkej-775	191	19	,	,	PUNCT
alkej-775	191	20	vol	vol	NOUN
alkej-775	191	21	.	.	PROPN
alkej-775	191	22	18	18	NUM
alkej-775	191	23	,	,	PUNCT
alkej-775	191	24	no	no	INTJ
alkej-775	191	25	.	.	NOUN
alkej-775	191	26	2	2	NUM
alkej-775	191	27	,	,	PUNCT
alkej-775	191	28	p.p	p.p	PROPN
alkej-775	191	29	.	.	NOUN
alkej-775	191	30	1328	1328	NUM
alkej-775	191	31	(	(	PUNCT
alkej-775	191	32	2022	2022	NUM
alkej-775	191	33	)	)	PUNCT
alkej-775	191	34	24	24	NUM
alkej-775	191	35	fig	fig	NOUN
alkej-775	191	36	.	.	PUNCT
alkej-775	192	1	16	16	NUM
alkej-775	192	2	.	.	PUNCT
alkej-775	192	3	path	path	NOUN
alkej-775	192	4	found	find	VERB
alkej-775	192	5	by	by	ADP
alkej-775	192	6	gwo	gwo	PROPN
alkej-775	192	7	algorithm	algorithm	PROPN
alkej-775	192	8	for	for	ADP
alkej-775	192	9	case	case	NOUN
alkej-775	192	10	3	3	NUM
alkej-775	192	11	.	.	PUNCT
alkej-775	192	12	table	table	NOUN
alkej-775	192	13	2	2	NUM
alkej-775	192	14	,	,	PUNCT
alkej-775	192	15	comparison	comparison	NOUN
alkej-775	192	16	of	of	ADP
alkej-775	192	17	the	the	DET
alkej-775	192	18	shortest	short	ADJ
alkej-775	192	19	path	path	NOUN
alkej-775	192	20	length	length	NOUN
alkej-775	192	21	and	and	CCONJ
alkej-775	192	22	the	the	DET
alkej-775	192	23	time	time	NOUN
alkej-775	192	24	of	of	ADP
alkej-775	192	25	execution	execution	NOUN
alkej-775	192	26	of	of	ADP
alkej-775	192	27	the	the	DET
alkej-775	192	28	gwo	gwo	PROPN
alkej-775	192	29	algorithm	algorithm	NOUN
alkej-775	192	30	.	.	PUNCT
alkej-775	193	1	6.3	6.3	NUM
alkej-775	193	2	evaluation	evaluation	NOUN
alkej-775	193	3	of	of	ADP
alkej-775	193	4	the	the	DET
alkej-775	193	5	gwo	gwo	PROPN
alkej-775	193	6	executing	execute	VERB
alkej-775	193	7	the	the	DET
alkej-775	193	8	simulation	simulation	NOUN
alkej-775	193	9	process	process	NOUN
alkej-775	193	10	of	of	ADP
alkej-775	193	11	any	any	DET
alkej-775	193	12	algorithm	algorithm	NOUN
alkej-775	193	13	technique	technique	NOUN
alkej-775	193	14	in	in	ADP
alkej-775	193	15	different	different	ADJ
alkej-775	193	16	environments	environment	NOUN
alkej-775	193	17	is	be	AUX
alkej-775	193	18	not	not	PART
alkej-775	193	19	sufficient	sufficient	ADJ
alkej-775	193	20	to	to	PART
alkej-775	193	21	assert	assert	VERB
alkej-775	193	22	that	that	SCONJ
alkej-775	193	23	it	it	PRON
alkej-775	193	24	is	be	AUX
alkej-775	193	25	best	good	ADJ
alkej-775	193	26	.	.	PUNCT
alkej-775	194	1	it	it	PRON
alkej-775	194	2	should	should	AUX
alkej-775	194	3	provide	provide	VERB
alkej-775	194	4	some	some	DET
alkej-775	194	5	proof	proof	NOUN
alkej-775	194	6	compared	compare	VERB
alkej-775	194	7	with	with	ADP
alkej-775	194	8	previously	previously	ADV
alkej-775	194	9	applied	apply	VERB
alkej-775	194	10	strategies	strategy	NOUN
alkej-775	194	11	to	to	PART
alkej-775	194	12	sure	sure	ADJ
alkej-775	194	13	that	that	SCONJ
alkej-775	194	14	the	the	DET
alkej-775	194	15	proposed	propose	VERB
alkej-775	194	16	technique	technique	NOUN
alkej-775	194	17	is	be	AUX
alkej-775	194	18	better	well	ADJ
alkej-775	194	19	.	.	PUNCT
alkej-775	195	1	from	from	ADP
alkej-775	195	2	this	this	DET
alkej-775	195	3	point	point	NOUN
alkej-775	195	4	,	,	PUNCT
alkej-775	195	5	the	the	DET
alkej-775	195	6	proposed	propose	VERB
alkej-775	195	7	algorithm	algorithm	NOUN
alkej-775	195	8	was	be	AUX
alkej-775	195	9	compared	compare	VERB
alkej-775	195	10	with	with	ADP
alkej-775	195	11	other	other	ADJ
alkej-775	195	12	algorithms	algorithm	NOUN
alkej-775	195	13	for	for	ADP
alkej-775	195	14	the	the	DET
alkej-775	195	15	same	same	ADJ
alkej-775	195	16	tested	test	VERB
alkej-775	195	17	cases	case	NOUN
alkej-775	195	18	to	to	PART
alkej-775	195	19	determine	determine	VERB
alkej-775	195	20	the	the	DET
alkej-775	195	21	response	response	NOUN
alkej-775	195	22	in	in	ADP
alkej-775	195	23	the	the	DET
alkej-775	195	24	selected	select	VERB
alkej-775	195	25	environment	environment	NOUN
alkej-775	195	26	.	.	PUNCT
alkej-775	196	1	the	the	DET
alkej-775	196	2	environment	environment	NOUN
alkej-775	196	3	has	have	AUX
alkej-775	196	4	been	be	AUX
alkej-775	196	5	generated	generate	VERB
alkej-775	196	6	as	as	SCONJ
alkej-775	196	7	stated	state	VERB
alkej-775	196	8	by	by	ADP
alkej-775	196	9	other	other	ADJ
alkej-775	196	10	authors	author	NOUN
alkej-775	196	11	,	,	PUNCT
alkej-775	196	12	and	and	CCONJ
alkej-775	196	13	the	the	DET
alkej-775	196	14	gwo	gwo	PROPN
alkej-775	196	15	algorithm	algorithm	PROPN
alkej-775	196	16	has	have	AUX
alkej-775	196	17	been	be	AUX
alkej-775	196	18	applied	apply	VERB
alkej-775	196	19	to	to	ADP
alkej-775	196	20	similar	similar	ADJ
alkej-775	196	21	environments	environment	NOUN
alkej-775	196	22	,	,	PUNCT
alkej-775	196	23	to	to	PART
alkej-775	196	24	demonstrate	demonstrate	VERB
alkej-775	196	25	the	the	DET
alkej-775	196	26	efficiency	efficiency	NOUN
alkej-775	196	27	of	of	ADP
alkej-775	196	28	the	the	DET
alkej-775	196	29	proposed	propose	VERB
alkej-775	196	30	algorithm	algorithm	NOUN
alkej-775	196	31	.	.	PUNCT
alkej-775	197	1	1	1	NUM
alkej-775	197	2	in	in	ADP
alkej-775	197	3	the	the	DET
alkej-775	197	4	first	first	ADJ
alkej-775	197	5	comparative	comparative	ADJ
alkej-775	197	6	study	study	NOUN
alkej-775	197	7	,	,	PUNCT
alkej-775	197	8	which	which	PRON
alkej-775	197	9	has	have	AUX
alkej-775	197	10	been	be	AUX
alkej-775	197	11	carried	carry	VERB
alkej-775	197	12	out	out	ADP
alkej-775	197	13	by	by	ADP
alkej-775	197	14	reference	reference	NOUN
alkej-775	198	1	[	[	X
alkej-775	198	2	16	16	NUM
alkej-775	198	3	]	]	PUNCT
alkej-775	198	4	.	.	PUNCT
alkej-775	199	1	the	the	DET
alkej-775	199	2	simulation	simulation	NOUN
alkej-775	199	3	results	result	NOUN
alkej-775	199	4	were	be	AUX
alkej-775	199	5	obtained	obtain	VERB
alkej-775	199	6	using	use	VERB
alkej-775	199	7	cfa	cfa	PROPN
alkej-775	199	8	-	-	PUNCT
alkej-775	199	9	oas	oas	PROPN
alkej-775	199	10	and	and	CCONJ
alkej-775	199	11	adaptive	adaptive	ADJ
alkej-775	199	12	firefly	firefly	NOUN
alkej-775	199	13	algorithm	algorithm	NOUN
alkej-775	199	14	(	(	PUNCT
alkej-775	199	15	afa	afa	PROPN
alkej-775	199	16	)	)	PUNCT
alkej-775	199	17	,	,	PUNCT
alkej-775	199	18	the	the	DET
alkej-775	199	19	navigation	navigation	NOUN
alkej-775	199	20	system	system	NOUN
alkej-775	199	21	is	be	AUX
alkej-775	199	22	demonstrated	demonstrate	VERB
alkej-775	199	23	in	in	ADP
alkej-775	199	24	figure	figure	NOUN
alkej-775	199	25	(	(	PUNCT
alkej-775	199	26	18	18	NUM
alkej-775	199	27	,	,	PUNCT
alkej-775	199	28	(	(	PUNCT
alkej-775	199	29	a	a	NOUN
alkej-775	199	30	)	)	PUNCT
alkej-775	199	31	)	)	PUNCT
alkej-775	199	32	.	.	PUNCT
alkej-775	200	1	while	while	SCONJ
alkej-775	200	2	the	the	DET
alkej-775	200	3	result	result	NOUN
alkej-775	200	4	obtained	obtain	VERB
alkej-775	200	5	using	use	VERB
alkej-775	200	6	the	the	DET
alkej-775	200	7	proposed	propose	VERB
alkej-775	200	8	algorithm	algorithm	NOUN
alkej-775	200	9	is	be	AUX
alkej-775	200	10	presented	present	VERB
alkej-775	200	11	in	in	ADP
alkej-775	200	12	figure	figure	NOUN
alkej-775	200	13	(	(	PUNCT
alkej-775	200	14	18	18	NUM
alkej-775	200	15	,	,	PUNCT
alkej-775	200	16	(	(	PUNCT
alkej-775	200	17	b	b	NOUN
alkej-775	200	18	)	)	PUNCT
alkej-775	200	19	)	)	PUNCT
alkej-775	200	20	.	.	PUNCT
alkej-775	201	1	table	table	NOUN
alkej-775	201	2	3	3	NUM
alkej-775	201	3	.	.	PUNCT
alkej-775	201	4	summarizes	summarize	VERB
alkej-775	201	5	the	the	DET
alkej-775	201	6	best	good	ADJ
alkej-775	201	7	path	path	NOUN
alkej-775	201	8	length	length	NOUN
alkej-775	201	9	,	,	PUNCT
alkej-775	201	10	which	which	PRON
alkej-775	201	11	can	can	AUX
alkej-775	201	12	be	be	AUX
alkej-775	201	13	achieved	achieve	VERB
alkej-775	201	14	between	between	ADP
alkej-775	201	15	the	the	DET
alkej-775	201	16	proposed	propose	VERB
alkej-775	201	17	gwo	gwo	PROPN
alkej-775	201	18	algorithm	algorithm	PROPN
alkej-775	201	19	and	and	CCONJ
alkej-775	201	20	the	the	DET
alkej-775	201	21	algorithms	algorithm	NOUN
alkej-775	201	22	of	of	ADP
alkej-775	201	23	reference	reference	NOUN
alkej-775	201	24	[	[	X
alkej-775	201	25	16	16	NUM
alkej-775	201	26	]	]	PUNCT
alkej-775	201	27	.	.	PUNCT
alkej-775	202	1	environment	environment	NOUN
alkej-775	202	2	number	number	NOUN
alkej-775	202	3	obstacles	obstacle	VERB
alkej-775	202	4	iterations	iteration	NOUN
alkej-775	202	5	number	number	NOUN
alkej-775	202	6	optimal	optimal	ADJ
alkej-775	202	7	path	path	NOUN
alkej-775	202	8	length	length	NOUN
alkej-775	202	9	(	(	PUNCT
alkej-775	202	10	in	in	ADP
alkej-775	202	11	cm	cm	NOUN
alkej-775	202	12	)	)	PUNCT
alkej-775	202	13	gwo	gwo	NOUN
alkej-775	202	14	execution	execution	NOUN
alkej-775	202	15	time	time	NOUN
alkej-775	202	16	(	(	PUNCT
alkej-775	202	17	in	in	ADP
alkej-775	202	18	seconds	second	NOUN
alkej-775	202	19	)	)	PUNCT
alkej-775	202	20	case	case	NOUN
alkej-775	202	21	1	1	NUM
alkej-775	202	22	5	5	NUM
alkej-775	202	23	10	10	NUM
alkej-775	202	24	2264.36	2264.36	NUM
alkej-775	202	25	8.44	8.44	NUM
alkej-775	202	26	20	20	NUM
alkej-775	202	27	2259.79	2259.79	NUM
alkej-775	202	28	8.55	8.55	NUM
alkej-775	202	29	40	40	NUM
alkej-775	202	30	2256	2256	NUM
alkej-775	202	31	.	.	PUNCT
alkej-775	203	1	82	82	NUM
alkej-775	203	2	8.96	8.96	NUM
alkej-775	203	3	80	80	NUM
alkej-775	203	4	2252.24	2252.24	NUM
alkej-775	203	5	9.03	9.03	NUM
alkej-775	203	6	case	case	NOUN
alkej-775	203	7	2	2	NUM
alkej-775	203	8	8	8	NUM
alkej-775	203	9	10	10	NUM
alkej-775	203	10	2685.26	2685.26	NUM
alkej-775	203	11	8.48	8.48	NUM
alkej-775	203	12	20	20	NUM
alkej-775	203	13	2513	2513	NUM
alkej-775	203	14	.	.	PUNCT
alkej-775	204	1	48	48	NUM
alkej-775	204	2	9.10	9.10	NUM
alkej-775	204	3	40	40	NUM
alkej-775	204	4	2495.37	2495.37	NUM
alkej-775	204	5	9.89	9.89	NUM
alkej-775	204	6	80	80	NUM
alkej-775	204	7	2493.03	2493.03	NUM
alkej-775	204	8	10.59	10.59	NUM
alkej-775	204	9	case	case	NOUN
alkej-775	204	10	3	3	NUM
alkej-775	204	11	12	12	NUM
alkej-775	204	12	10	10	NUM
alkej-775	204	13	2452.54	2452.54	NUM
alkej-775	204	14	8.44	8.44	NUM
alkej-775	204	15	20	20	NUM
alkej-775	204	16	2438.49	2438.49	NUM
alkej-775	204	17	9.12	9.12	NUM
alkej-775	204	18	40	40	NUM
alkej-775	204	19	2433.38	2433.38	NUM
alkej-775	204	20	10.57	10.57	NUM
alkej-775	204	21	80	80	NUM
alkej-775	204	22	2430.19	2430.19	NUM
alkej-775	204	23	11.77	11.77	NUM
alkej-775	204	24	tahseen	tahseen	NOUN
alkej-775	204	25	fadhil	fadhil	PROPN
alkej-775	204	26	abbas	abbas	PROPN
alkej-775	204	27	al	al	PROPN
alkej-775	204	28	-	-	PUNCT
alkej-775	204	29	khwarizmi	khwarizmi	PROPN
alkej-775	204	30	engineering	engineering	NOUN
alkej-775	204	31	journal	journal	PROPN
alkej-775	204	32	,	,	PUNCT
alkej-775	204	33	vol	vol	NOUN
alkej-775	204	34	.	.	PROPN
alkej-775	204	35	18	18	NUM
alkej-775	204	36	,	,	PUNCT
alkej-775	204	37	no	no	INTJ
alkej-775	204	38	.	.	NOUN
alkej-775	204	39	2	2	NUM
alkej-775	204	40	,	,	PUNCT
alkej-775	204	41	p.p	p.p	PROPN
alkej-775	204	42	.	.	NOUN
alkej-775	204	43	1328	1328	NUM
alkej-775	204	44	(	(	PUNCT
alkej-775	204	45	2022	2022	NUM
alkej-775	204	46	)	)	PUNCT
alkej-775	204	47	25	25	NUM
alkej-775	204	48	fig	fig	NOUN
alkej-775	204	49	.	.	PUNCT
alkej-775	205	1	(	(	PUNCT
alkej-775	205	2	18	18	NUM
alkej-775	205	3	,	,	PUNCT
alkej-775	205	4	(	(	PUNCT
alkej-775	205	5	a)-(b	a)-(b	NOUN
alkej-775	205	6	)	)	PUNCT
alkej-775	205	7	)	)	PUNCT
alkej-775	205	8	.	.	PUNCT
alkej-775	206	1	the	the	DET
alkej-775	206	2	best	good	ADJ
alkej-775	206	3	results	result	NOUN
alkej-775	206	4	achieved	achieve	VERB
alkej-775	206	5	by	by	ADP
alkej-775	206	6	(	(	PUNCT
alkej-775	206	7	a	a	DET
alkej-775	206	8	)	)	PUNCT
alkej-775	206	9	reference	reference	NOUN
alkej-775	206	10	[	[	X
alkej-775	206	11	16	16	NUM
alkej-775	206	12	]	]	PUNCT
alkej-775	206	13	,	,	PUNCT
alkej-775	206	14	and	and	CCONJ
alkej-775	206	15	(	(	PUNCT
alkej-775	206	16	b	b	X
alkej-775	206	17	)	)	PUNCT
alkej-775	206	18	gwo	gwo	PROPN
alkej-775	206	19	.	.	PROPN
alkej-775	206	20	table	table	NOUN
alkej-775	206	21	3	3	NUM
alkej-775	206	22	,	,	PUNCT
alkej-775	206	23	results	result	VERB
alkej-775	206	24	comparison	comparison	NOUN
alkej-775	206	25	with	with	ADP
alkej-775	206	26	reference	reference	NOUN
alkej-775	206	27	[	[	X
alkej-775	206	28	16	16	NUM
alkej-775	206	29	]	]	PUNCT
alkej-775	206	30	.	.	PUNCT
alkej-775	207	1	figure	figure	VERB
alkej-775	207	2	no	no	DET
alkej-775	207	3	.	.	PROPN
alkej-775	207	4	method	method	PROPN
alkej-775	207	5	navigation	navigation	NOUN
alkej-775	207	6	path	path	NOUN
alkej-775	207	7	length	length	NOUN
alkej-775	207	8	(	(	PUNCT
alkej-775	207	9	cm	cm	NOUN
alkej-775	207	10	)	)	PUNCT
alkej-775	207	11	fig	fig	NOUN
alkej-775	207	12	(	(	PUNCT
alkej-775	207	13	10	10	NUM
alkej-775	207	14	,	,	PUNCT
alkej-775	207	15	(	(	PUNCT
alkej-775	207	16	a	a	NOUN
alkej-775	207	17	)	)	PUNCT
alkej-775	207	18	)	)	PUNCT
alkej-775	207	19	.	.	PUNCT
alkej-775	208	1	afa	afa	PROPN
alkej-775	209	1	[	[	X
alkej-775	209	2	48	48	NUM
alkej-775	209	3	]	]	SYM
alkej-775	209	4	12.41	12.41	NUM
alkej-775	209	5	fig	fig	NOUN
alkej-775	209	6	(	(	PUNCT
alkej-775	209	7	10	10	NUM
alkej-775	209	8	,	,	PUNCT
alkej-775	209	9	(	(	PUNCT
alkej-775	209	10	a	a	NOUN
alkej-775	209	11	)	)	PUNCT
alkej-775	209	12	)	)	PUNCT
alkej-775	209	13	.	.	PUNCT
alkej-775	210	1	cfa	cfa	PROPN
alkej-775	210	2	-	-	PUNCT
alkej-775	210	3	oas	oas	PROPN
alkej-775	210	4	[	[	X
alkej-775	210	5	48	48	NUM
alkej-775	210	6	]	]	SYM
alkej-775	210	7	11.85	11.85	NUM
alkej-775	210	8	fig	fig	NOUN
alkej-775	210	9	(	(	PUNCT
alkej-775	210	10	10	10	NUM
alkej-775	210	11	,	,	PUNCT
alkej-775	210	12	(	(	PUNCT
alkej-775	210	13	b	b	NOUN
alkej-775	210	14	)	)	PUNCT
alkej-775	210	15	)	)	PUNCT
alkej-775	210	16	.	.	PUNCT
alkej-775	211	1	gwo	gwo	PROPN
alkej-775	211	2	11.83	11.83	NUM
alkej-775	211	3	2the	2the	DET
alkej-775	211	4	second	second	ADJ
alkej-775	211	5	comparison	comparison	NOUN
alkej-775	211	6	investigation	investigation	NOUN
alkej-775	211	7	,	,	PUNCT
alkej-775	211	8	based	base	VERB
alkej-775	211	9	on	on	ADP
alkej-775	211	10	reference	reference	NOUN
alkej-775	211	11	[	[	X
alkej-775	211	12	17	17	NUM
alkej-775	211	13	]	]	PUNCT
alkej-775	211	14	,	,	PUNCT
alkej-775	211	15	was	be	AUX
alkej-775	211	16	carried	carry	VERB
alkej-775	211	17	out	out	ADP
alkej-775	211	18	.	.	PUNCT
alkej-775	212	1	they	they	PRON
alkej-775	212	2	have	have	AUX
alkej-775	212	3	developed	develop	VERB
alkej-775	212	4	their	their	PRON
alkej-775	212	5	path	path	NOUN
alkej-775	212	6	planning	planning	NOUN
alkej-775	212	7	algorithm	algorithm	NOUN
alkej-775	212	8	based	base	VERB
alkej-775	212	9	on	on	ADP
alkej-775	212	10	the	the	DET
alkej-775	212	11	approach	approach	NOUN
alkej-775	212	12	namely	namely	ADV
alkej-775	212	13	,	,	PUNCT
alkej-775	212	14	the	the	DET
alkej-775	212	15	adaptive	adaptive	ADJ
alkej-775	212	16	tumble	tumble	NOUN
alkej-775	212	17	bacterial	bacterial	ADJ
alkej-775	212	18	foraging	forage	VERB
alkej-775	212	19	optimization	optimization	NOUN
alkej-775	212	20	(	(	PUNCT
alkej-775	212	21	at	at	ADP
alkej-775	212	22	-	-	PUNCT
alkej-775	212	23	bfo	bfo	NOUN
alkej-775	212	24	)	)	PUNCT
alkej-775	212	25	.	.	PUNCT
alkej-775	213	1	figure	figure	NOUN
alkej-775	213	2	(	(	PUNCT
alkej-775	213	3	19	19	NUM
alkej-775	213	4	,	,	PUNCT
alkej-775	213	5	(	(	PUNCT
alkej-775	213	6	a	a	X
alkej-775	213	7	)	)	PUNCT
alkej-775	213	8	)	)	PUNCT
alkej-775	213	9	shows	show	VERB
alkej-775	213	10	the	the	DET
alkej-775	213	11	simulation	simulation	NOUN
alkej-775	213	12	results	result	NOUN
alkej-775	213	13	obtained	obtain	VERB
alkej-775	213	14	from	from	ADP
alkej-775	213	15	the	the	DET
alkej-775	213	16	stated	state	VERB
alkej-775	213	17	at	at	ADP
alkej-775	213	18	-	-	PUNCT
alkej-775	213	19	bfo	bfo	PROPN
alkej-775	213	20	algorithm	algorithm	NOUN
alkej-775	213	21	.	.	PUNCT
alkej-775	214	1	while	while	SCONJ
alkej-775	214	2	,	,	PUNCT
alkej-775	214	3	the	the	DET
alkej-775	214	4	result	result	NOUN
alkej-775	214	5	obtained	obtain	VERB
alkej-775	214	6	from	from	ADP
alkej-775	214	7	using	use	VERB
alkej-775	214	8	the	the	DET
alkej-775	214	9	proposed	propose	VERB
alkej-775	214	10	algorithm	algorithm	NOUN
alkej-775	214	11	is	be	AUX
alkej-775	214	12	illustrated	illustrate	VERB
alkej-775	214	13	in	in	ADP
alkej-775	214	14	figure	figure	NOUN
alkej-775	214	15	(	(	PUNCT
alkej-775	214	16	19	19	NUM
alkej-775	214	17	,	,	PUNCT
alkej-775	214	18	(	(	PUNCT
alkej-775	214	19	b	b	NOUN
alkej-775	214	20	)	)	PUNCT
alkej-775	214	21	)	)	PUNCT
alkej-775	214	22	.	.	PUNCT
alkej-775	215	1	table	table	NOUN
alkej-775	215	2	4	4	NUM
alkej-775	215	3	.	.	PUNCT
alkej-775	215	4	summarizes	summarize	VERB
alkej-775	215	5	the	the	DET
alkej-775	215	6	best	good	ADJ
alkej-775	215	7	path	path	NOUN
alkej-775	215	8	length	length	NOUN
alkej-775	215	9	,	,	PUNCT
alkej-775	215	10	which	which	PRON
alkej-775	215	11	can	can	AUX
alkej-775	215	12	be	be	AUX
alkej-775	215	13	achieved	achieve	VERB
alkej-775	215	14	between	between	ADP
alkej-775	215	15	the	the	DET
alkej-775	215	16	proposed	propose	VERB
alkej-775	215	17	gwo	gwo	PROPN
alkej-775	215	18	algorithm	algorithm	PROPN
alkej-775	215	19	and	and	CCONJ
alkej-775	215	20	the	the	DET
alkej-775	215	21	algorithms	algorithm	NOUN
alkej-775	215	22	of	of	ADP
alkej-775	215	23	reference	reference	NOUN
alkej-775	215	24	[	[	X
alkej-775	215	25	17	17	NUM
alkej-775	215	26	]	]	PUNCT
alkej-775	215	27	.	.	PUNCT
alkej-775	216	1	fig	fig	NOUN
alkej-775	216	2	.	.	PUNCT
alkej-775	217	1	(	(	PUNCT
alkej-775	217	2	19	19	NUM
alkej-775	217	3	,	,	PUNCT
alkej-775	217	4	(	(	PUNCT
alkej-775	217	5	a)-(b	a)-(b	NOUN
alkej-775	217	6	)	)	PUNCT
alkej-775	217	7	)	)	PUNCT
alkej-775	217	8	.	.	PUNCT
alkej-775	218	1	the	the	DET
alkej-775	218	2	best	good	ADJ
alkej-775	218	3	results	result	NOUN
alkej-775	218	4	achieved	achieve	VERB
alkej-775	218	5	by	by	ADP
alkej-775	218	6	(	(	PUNCT
alkej-775	218	7	a	a	DET
alkej-775	218	8	)	)	PUNCT
alkej-775	218	9	reference	reference	NOUN
alkej-775	218	10	[	[	X
alkej-775	218	11	17	17	NUM
alkej-775	218	12	]	]	PUNCT
alkej-775	218	13	,	,	PUNCT
alkej-775	218	14	and	and	CCONJ
alkej-775	218	15	(	(	PUNCT
alkej-775	218	16	b	b	X
alkej-775	218	17	)	)	PUNCT
alkej-775	218	18	gwo	gwo	NOUN
alkej-775	218	19	.	.	PUNCT
alkej-775	219	1	(	(	PUNCT
alkej-775	219	2	a	a	X
alkej-775	219	3	)	)	PUNCT
alkej-775	219	4	(	(	PUNCT
alkej-775	219	5	b	b	X
alkej-775	219	6	)	)	PUNCT
alkej-775	219	7	y	y	PROPN
alkej-775	219	8	-a	-a	PUNCT
alkej-775	219	9	x	x	PROPN
alkej-775	219	10	is	be	AUX
alkej-775	219	11	(	(	PUNCT
alkej-775	219	12	a	a	NOUN
alkej-775	219	13	)	)	PUNCT
alkej-775	219	14	(	(	PUNCT
alkej-775	219	15	b	b	X
alkej-775	219	16	)	)	PUNCT
alkej-775	219	17	x	x	ADJ
alkej-775	219	18	-	-	ADJ
alkej-775	219	19	axis	axis	ADJ
alkej-775	219	20	tahseen	tahseen	NOUN
alkej-775	219	21	fadhil	fadhil	PROPN
alkej-775	219	22	abbas	abbas	PROPN
alkej-775	219	23	al	al	PROPN
alkej-775	219	24	-	-	PUNCT
alkej-775	219	25	khwarizmi	khwarizmi	PROPN
alkej-775	219	26	engineering	engineering	NOUN
alkej-775	219	27	journal	journal	PROPN
alkej-775	219	28	,	,	PUNCT
alkej-775	219	29	vol	vol	NOUN
alkej-775	219	30	.	.	PROPN
alkej-775	219	31	18	18	NUM
alkej-775	219	32	,	,	PUNCT
alkej-775	219	33	no	no	INTJ
alkej-775	219	34	.	.	NOUN
alkej-775	219	35	2	2	NUM
alkej-775	219	36	,	,	PUNCT
alkej-775	219	37	p.p	p.p	PROPN
alkej-775	219	38	.	.	NOUN
alkej-775	219	39	1328	1328	NUM
alkej-775	219	40	(	(	PUNCT
alkej-775	219	41	2022	2022	NUM
alkej-775	219	42	)	)	PUNCT
alkej-775	219	43	26	26	NUM
alkej-775	219	44	table	table	NOUN
alkej-775	219	45	4	4	NUM
alkej-775	219	46	,	,	PUNCT
alkej-775	219	47	results	result	VERB
alkej-775	219	48	comparison	comparison	NOUN
alkej-775	219	49	with	with	ADP
alkej-775	219	50	reference	reference	NOUN
alkej-775	219	51	[	[	X
alkej-775	219	52	17	17	NUM
alkej-775	219	53	]	]	PUNCT
alkej-775	219	54	.	.	PUNCT
alkej-775	220	1	figure	figure	VERB
alkej-775	220	2	no	no	DET
alkej-775	220	3	.	.	PROPN
alkej-775	220	4	method	method	PROPN
alkej-775	220	5	navigation	navigation	NOUN
alkej-775	220	6	path	path	NOUN
alkej-775	220	7	length	length	NOUN
alkej-775	220	8	(	(	PUNCT
alkej-775	220	9	m	m	NOUN
alkej-775	220	10	)	)	PUNCT
alkej-775	220	11	fig	fig	NOUN
alkej-775	220	12	(	(	PUNCT
alkej-775	220	13	19	19	NUM
alkej-775	220	14	,	,	PUNCT
alkej-775	220	15	(	(	PUNCT
alkej-775	220	16	a	a	NOUN
alkej-775	220	17	)	)	PUNCT
alkej-775	220	18	)	)	PUNCT
alkej-775	220	19	.	.	PUNCT
alkej-775	221	1	at	at	ADP
alkej-775	221	2	-	-	PUNCT
alkej-775	221	3	bfo	bfo	PROPN
alkej-775	221	4	[	[	X
alkej-775	221	5	17	17	NUM
alkej-775	221	6	]	]	SYM
alkej-775	221	7	14.5346	14.5346	NUM
alkej-775	221	8	fig	fig	NOUN
alkej-775	221	9	(	(	PUNCT
alkej-775	221	10	19	19	NUM
alkej-775	221	11	,	,	PUNCT
alkej-775	221	12	(	(	PUNCT
alkej-775	221	13	b	b	NOUN
alkej-775	221	14	)	)	PUNCT
alkej-775	221	15	)	)	PUNCT
alkej-775	221	16	.	.	PUNCT
alkej-775	222	1	gwo	gwo	PROPN
alkej-775	222	2	14.3574	14.3574	NUM
alkej-775	222	3	from	from	ADP
alkej-775	222	4	the	the	DET
alkej-775	222	5	results	result	NOUN
alkej-775	222	6	obtained	obtain	VERB
alkej-775	222	7	,	,	PUNCT
alkej-775	222	8	it	it	PRON
alkej-775	222	9	can	can	AUX
alkej-775	222	10	be	be	AUX
alkej-775	222	11	noticed	notice	VERB
alkej-775	222	12	that	that	SCONJ
alkej-775	222	13	the	the	DET
alkej-775	222	14	proposed	propose	VERB
alkej-775	222	15	algorithm	algorithm	NOUN
alkej-775	222	16	(	(	PUNCT
alkej-775	222	17	gwo	gwo	NOUN
alkej-775	222	18	)	)	PUNCT
alkej-775	222	19	provides	provide	VERB
alkej-775	222	20	the	the	DET
alkej-775	222	21	shortest	short	ADJ
alkej-775	222	22	path	path	NOUN
alkej-775	222	23	from	from	ADP
alkej-775	222	24	start	start	NOUN
alkej-775	222	25	to	to	ADP
alkej-775	222	26	goal	goal	NOUN
alkej-775	222	27	position	position	NOUN
alkej-775	222	28	as	as	ADP
alkej-775	222	29	compared	compare	VERB
alkej-775	222	30	to	to	ADP
alkej-775	222	31	results	result	NOUN
alkej-775	222	32	obtained	obtain	VERB
alkej-775	222	33	by	by	ADP
alkej-775	222	34	references	reference	NOUN
alkej-775	222	35	,	,	PUNCT
alkej-775	222	36	[	[	X
alkej-775	222	37	16	16	NUM
alkej-775	222	38	]	]	PUNCT
alkej-775	222	39	,	,	PUNCT
alkej-775	222	40	and	and	CCONJ
alkej-775	222	41	[	[	X
alkej-775	222	42	17	17	NUM
alkej-775	222	43	]	]	SYM
alkej-775	222	44	.	.	PUNCT
alkej-775	223	1	7	7	X
alkej-775	223	2	.	.	X
alkej-775	223	3	conclusion	conclusion	NOUN
alkej-775	223	4	in	in	ADP
alkej-775	223	5	this	this	DET
alkej-775	223	6	paper	paper	NOUN
alkej-775	223	7	,	,	PUNCT
alkej-775	223	8	we	we	PRON
alkej-775	223	9	suggested	suggest	VERB
alkej-775	223	10	path	path	NOUN
alkej-775	223	11	planning	planning	NOUN
alkej-775	223	12	and	and	CCONJ
alkej-775	223	13	obstacle	obstacle	NOUN
alkej-775	223	14	avoidance	avoidance	NOUN
alkej-775	223	15	based	base	VERB
alkej-775	223	16	on	on	ADP
alkej-775	223	17	the	the	DET
alkej-775	223	18	grey	grey	ADJ
alkej-775	223	19	wolf	wolf	PROPN
alkej-775	223	20	optimization	optimization	NOUN
alkej-775	223	21	path	path	NOUN
alkej-775	223	22	algorithm	algorithm	NOUN
alkej-775	223	23	for	for	ADP
alkej-775	223	24	wmr	wmr	PROPN
alkej-775	223	25	in	in	ADP
alkej-775	223	26	environments	environment	NOUN
alkej-775	223	27	with	with	ADP
alkej-775	223	28	static	static	ADJ
alkej-775	223	29	obstacles	obstacle	NOUN
alkej-775	223	30	.	.	PUNCT
alkej-775	224	1	through	through	ADP
alkej-775	224	2	analysis	analysis	NOUN
alkej-775	224	3	of	of	ADP
alkej-775	224	4	the	the	DET
alkej-775	224	5	performance	performance	NOUN
alkej-775	224	6	of	of	ADP
alkej-775	224	7	the	the	DET
alkej-775	224	8	algorithm	algorithm	NOUN
alkej-775	224	9	in	in	ADP
alkej-775	224	10	wmr	wmr	PROPN
alkej-775	224	11	working	work	VERB
alkej-775	224	12	environments	environment	NOUN
alkej-775	224	13	with	with	ADP
alkej-775	224	14	studying	study	VERB
alkej-775	224	15	the	the	DET
alkej-775	224	16	effects	effect	NOUN
alkej-775	224	17	of	of	ADP
alkej-775	224	18	the	the	DET
alkej-775	224	19	design	design	NOUN
alkej-775	224	20	parameters	parameter	NOUN
alkej-775	224	21	of	of	ADP
alkej-775	224	22	the	the	DET
alkej-775	224	23	algorithm	algorithm	NOUN
alkej-775	224	24	such	such	ADJ
alkej-775	224	25	as	as	ADP
alkej-775	224	26	(	(	PUNCT
alkej-775	224	27	the	the	DET
alkej-775	224	28	number	number	NOUN
alkej-775	224	29	of	of	ADP
alkej-775	224	30	iterations	iteration	NOUN
alkej-775	224	31	and	and	CCONJ
alkej-775	224	32	number	number	NOUN
alkej-775	224	33	of	of	ADP
alkej-775	224	34	population	population	NOUN
alkej-775	224	35	)	)	PUNCT
alkej-775	224	36	in	in	ADP
alkej-775	224	37	reducing	reduce	VERB
alkej-775	224	38	simulation	simulation	NOUN
alkej-775	224	39	time	time	NOUN
alkej-775	224	40	and	and	CCONJ
alkej-775	224	41	length	length	NOUN
alkej-775	224	42	of	of	ADP
alkej-775	224	43	the	the	DET
alkej-775	224	44	path	path	NOUN
alkej-775	224	45	in	in	ADP
alkej-775	224	46	different	different	ADJ
alkej-775	224	47	collide	collide	NOUN
alkej-775	224	48	environments	environment	NOUN
alkej-775	224	49	the	the	DET
alkej-775	224	50	main	main	ADJ
alkej-775	224	51	conclusions	conclusion	NOUN
alkej-775	224	52	of	of	ADP
alkej-775	224	53	this	this	DET
alkej-775	224	54	research	research	NOUN
alkej-775	224	55	can	can	AUX
alkej-775	224	56	be	be	AUX
alkej-775	224	57	drawn	draw	VERB
alkej-775	224	58	as	as	SCONJ
alkej-775	224	59	follows	follow	VERB
alkej-775	224	60	:	:	PUNCT
alkej-775	224	61	1	1	X
alkej-775	224	62	.	.	PUNCT
alkej-775	224	63	the	the	DET
alkej-775	224	64	proposed	propose	VERB
alkej-775	224	65	algorithm	algorithm	NOUN
alkej-775	224	66	is	be	AUX
alkej-775	224	67	proved	prove	VERB
alkej-775	224	68	efficient	efficient	ADJ
alkej-775	224	69	in	in	ADP
alkej-775	224	70	finding	find	VERB
alkej-775	224	71	an	an	DET
alkej-775	224	72	optimal	optimal	ADJ
alkej-775	224	73	path	path	NOUN
alkej-775	224	74	without	without	ADP
alkej-775	224	75	collision	collision	NOUN
alkej-775	224	76	with	with	ADP
alkej-775	224	77	obstacles	obstacle	NOUN
alkej-775	224	78	.	.	PUNCT
alkej-775	225	1	2	2	X
alkej-775	225	2	.	.	X
alkej-775	225	3	the	the	DET
alkej-775	225	4	effect	effect	NOUN
alkej-775	225	5	of	of	ADP
alkej-775	225	6	the	the	DET
alkej-775	225	7	values	value	NOUN
alkej-775	225	8	selected	select	VERB
alkej-775	225	9	of	of	ADP
alkej-775	225	10	design	design	NOUN
alkej-775	225	11	parameters	parameter	NOUN
alkej-775	225	12	of	of	ADP
alkej-775	225	13	the	the	DET
alkej-775	225	14	proposed	propose	VERB
alkej-775	225	15	algorithm	algorithm	NOUN
alkej-775	225	16	in	in	ADP
alkej-775	225	17	reducing	reduce	VERB
alkej-775	225	18	simulation	simulation	NOUN
alkej-775	225	19	time	time	NOUN
alkej-775	225	20	and	and	CCONJ
alkej-775	225	21	length	length	NOUN
alkej-775	225	22	of	of	ADP
alkej-775	225	23	the	the	DET
alkej-775	225	24	path	path	NOUN
alkej-775	225	25	without	without	ADP
alkej-775	225	26	collision	collision	NOUN
alkej-775	225	27	with	with	ADP
alkej-775	225	28	obstacles	obstacle	NOUN
alkej-775	225	29	.	.	PUNCT
alkej-775	226	1	3	3	X
alkej-775	226	2	.	.	X
alkej-775	226	3	the	the	DET
alkej-775	226	4	directional	directional	ADJ
alkej-775	226	5	relationship	relationship	NOUN
alkej-775	226	6	between	between	ADP
alkej-775	226	7	the	the	DET
alkej-775	226	8	number	number	NOUN
alkej-775	226	9	of	of	ADP
alkej-775	226	10	obstacles	obstacle	NOUN
alkej-775	226	11	and	and	CCONJ
alkej-775	226	12	the	the	DET
alkej-775	226	13	number	number	NOUN
alkej-775	226	14	of	of	ADP
alkej-775	226	15	iterations	iteration	NOUN
alkej-775	226	16	.	.	PUNCT
alkej-775	227	1	the	the	DET
alkej-775	227	2	uniform	uniform	ADJ
alkej-775	227	3	increase	increase	NOUN
alkej-775	227	4	of	of	ADP
alkej-775	227	5	obstacles	obstacle	NOUN
alkej-775	227	6	is	be	AUX
alkej-775	227	7	mostly	mostly	ADV
alkej-775	227	8	solved	solve	VERB
alkej-775	227	9	by	by	ADP
alkej-775	227	10	a	a	DET
alkej-775	227	11	moderate	moderate	ADJ
alkej-775	227	12	increase	increase	NOUN
alkej-775	227	13	in	in	ADP
alkej-775	227	14	the	the	DET
alkej-775	227	15	number	number	NOUN
alkej-775	227	16	of	of	ADP
alkej-775	227	17	iterations	iteration	NOUN
alkej-775	227	18	4	4	NUM
alkej-775	227	19	.	.	PUNCT
alkej-775	228	1	the	the	DET
alkej-775	228	2	proposed	propose	VERB
alkej-775	228	3	algorithm	algorithm	NOUN
alkej-775	228	4	proved	prove	VERB
alkej-775	228	5	the	the	DET
alkej-775	228	6	superiority	superiority	NOUN
alkej-775	228	7	compared	compare	VERB
alkej-775	228	8	with	with	ADP
alkej-775	228	9	algorithms	algorithm	NOUN
alkej-775	228	10	applied	apply	VERB
alkej-775	228	11	by	by	ADP
alkej-775	228	12	other	other	ADJ
alkej-775	228	13	researchers	researcher	NOUN
alkej-775	228	14	,	,	PUNCT
alkej-775	228	15	in	in	ADP
alkej-775	228	16	simulation	simulation	NOUN
alkej-775	228	17	mode	mode	NOUN
alkej-775	228	18	,	,	PUNCT
alkej-775	228	19	the	the	DET
alkej-775	228	20	results	result	NOUN
alkej-775	228	21	proved	prove	VERB
alkej-775	228	22	that	that	SCONJ
alkej-775	228	23	the	the	DET
alkej-775	228	24	proposed	propose	VERB
alkej-775	228	25	algorithm	algorithm	NOUN
alkej-775	228	26	is	be	AUX
alkej-775	228	27	effective	effective	ADJ
alkej-775	228	28	in	in	ADP
alkej-775	228	29	generating	generate	VERB
alkej-775	228	30	the	the	DET
alkej-775	228	31	optimal	optimal	ADJ
alkej-775	228	32	and	and	CCONJ
alkej-775	228	33	shortest	short	ADJ
alkej-775	228	34	path	path	NOUN
alkej-775	228	35	,	,	PUNCT
alkej-775	228	36	which	which	PRON
alkej-775	228	37	is	be	AUX
alkej-775	228	38	positively	positively	ADV
alkej-775	228	39	reflected	reflect	VERB
alkej-775	228	40	in	in	ADP
alkej-775	228	41	the	the	DET
alkej-775	228	42	promising	promising	ADJ
alkej-775	228	43	applications	application	NOUN
alkej-775	228	44	of	of	ADP
alkej-775	228	45	this	this	DET
alkej-775	228	46	proposed	propose	VERB
alkej-775	228	47	algorithm	algorithm	NOUN
alkej-775	228	48	.	.	PUNCT
alkej-775	229	1	the	the	DET
alkej-775	229	2	future	future	ADJ
alkej-775	229	3	work	work	NOUN
alkej-775	229	4	will	will	AUX
alkej-775	229	5	test	test	VERB
alkej-775	229	6	the	the	DET
alkej-775	229	7	proposed	propose	VERB
alkej-775	229	8	algorithm	algorithm	NOUN
alkej-775	229	9	in	in	ADP
alkej-775	229	10	real	real	ADJ
alkej-775	229	11	-	-	PUNCT
alkej-775	229	12	time	time	NOUN
alkej-775	229	13	wmr	wmr	PROPN
alkej-775	229	14	navigation	navigation	NOUN
alkej-775	229	15	.	.	PUNCT
alkej-775	230	1	8	8	X
alkej-775	230	2	.	.	NUM
alkej-775	230	3	references	reference	NOUN
alkej-775	230	4	[	[	X
alkej-775	230	5	1	1	X
alkej-775	230	6	]	]	PUNCT
alkej-775	230	7	t.	t.	PROPN
alkej-775	230	8	f.	f.	PROPN
alkej-775	230	9	abaas	abaas	PROPN
alkej-775	230	10	,	,	PUNCT
alkej-775	230	11	and	and	CCONJ
alkej-775	230	12	a.	a.	PROPN
alkej-775	230	13	h.	h.	PROPN
alkej-775	230	14	shabeeb	shabeeb	PROPN
alkej-775	230	15	.	.	PUNCT
alkej-775	231	1	"	"	PUNCT
alkej-775	231	2	autonomous	autonomous	ADJ
alkej-775	231	3	mobile	mobile	NOUN
alkej-775	231	4	robot	robot	NOUN
alkej-775	231	5	navigation	navigation	NOUN
alkej-775	231	6	based	base	VERB
alkej-775	231	7	on	on	ADP
alkej-775	231	8	pso	pso	NOUN
alkej-775	231	9	algorithm	algorithm	NOUN
alkej-775	231	10	with	with	ADP
alkej-775	231	11	inertia	inertia	NOUN
alkej-775	231	12	weight	weight	NOUN
alkej-775	231	13	variants	variant	NOUN
alkej-775	231	14	for	for	ADP
alkej-775	231	15	optimal	optimal	ADJ
alkej-775	231	16	path	path	NOUN
alkej-775	231	17	planning	planning	NOUN
alkej-775	231	18	.	.	PUNCT
alkej-775	231	19	"	"	PUNCT
alkej-775	232	1	iop	iop	PROPN
alkej-775	232	2	conference	conference	NOUN
alkej-775	232	3	series	series	NOUN
alkej-775	232	4	:	:	PUNCT
alkej-775	232	5	materials	material	NOUN
alkej-775	232	6	science	science	NOUN
alkej-775	232	7	and	and	CCONJ
alkej-775	232	8	engineering	engineering	NOUN
alkej-775	232	9	.	.	PUNCT
alkej-775	233	1	vol	vol	NOUN
alkej-775	233	2	.	.	PROPN
alkej-775	234	1	928	928	NUM
alkej-775	234	2	.	.	PUNCT
alkej-775	235	1	no	no	INTJ
alkej-775	235	2	.	.	NOUN
alkej-775	236	1	2	2	X
alkej-775	236	2	.	.	X
alkej-775	236	3	iop	iop	NOUN
alkej-775	236	4	publishing	publishing	NOUN
alkej-775	236	5	,	,	PUNCT
alkej-775	236	6	2020	2020	NUM
alkej-775	236	7	.	.	PUNCT
alkej-775	237	1	[	[	X
alkej-775	237	2	2	2	NUM
alkej-775	237	3	]	]	PUNCT
alkej-775	237	4	a.	a.	PROPN
alkej-775	237	5	s.	s.	PROPN
alkej-775	237	6	al	al	PROPN
alkej-775	237	7	-	-	PUNCT
alkej-775	237	8	araji	araji	PROPN
alkej-775	237	9	,	,	PUNCT
alkej-775	237	10	a.	a.	PROPN
alkej-775	237	11	k.	k.	PROPN
alkej-775	237	12	ahmed	ahmed	PROPN
alkej-775	237	13	,	,	PUNCT
alkej-775	237	14	and	and	CCONJ
alkej-775	237	15	m.	m.	PROPN
alkej-775	237	16	k.	k.	PROPN
alkej-775	237	17	hamzah	hamzah	PROPN
alkej-775	237	18	.	.	PUNCT
alkej-775	238	1	"	"	PUNCT
alkej-775	238	2	development	development	NOUN
alkej-775	238	3	of	of	ADP
alkej-775	238	4	a	a	DET
alkej-775	238	5	path	path	NOUN
alkej-775	238	6	planning	planning	NOUN
alkej-775	238	7	algorithms	algorithm	NOUN
alkej-775	238	8	and	and	CCONJ
alkej-775	238	9	controller	controller	NOUN
alkej-775	238	10	design	design	NOUN
alkej-775	238	11	for	for	ADP
alkej-775	238	12	mobile	mobile	NOUN
alkej-775	238	13	robot	robot	NOUN
alkej-775	238	14	.	.	PUNCT
alkej-775	238	15	"	"	PUNCT
alkej-775	239	1	2018	2018	NUM
alkej-775	239	2	third	third	ADJ
alkej-775	239	3	scientific	scientific	ADJ
alkej-775	239	4	conference	conference	NOUN
alkej-775	239	5	of	of	ADP
alkej-775	239	6	electrical	electrical	ADJ
alkej-775	239	7	engineering	engineering	NOUN
alkej-775	239	8	(	(	PUNCT
alkej-775	239	9	scee	scee	NOUN
alkej-775	239	10	)	)	PUNCT
alkej-775	239	11	.	.	PUNCT
alkej-775	240	1	ieee	ieee	PROPN
alkej-775	240	2	,	,	PUNCT
alkej-775	240	3	2018	2018	NUM
alkej-775	240	4	.	.	PUNCT
alkej-775	241	1	[	[	X
alkej-775	241	2	3	3	NUM
alkej-775	241	3	]	]	PUNCT
alkej-775	241	4	a.	a.	PROPN
alkej-775	241	5	s.	s.	PROPN
alkej-775	241	6	al	al	PROPN
alkej-775	241	7	-	-	PUNCT
alkej-775	241	8	araji	araji	NOUN
alkej-775	241	9	,	,	PUNCT
alkej-775	241	10	and	and	CCONJ
alkej-775	241	11	n.	n.	PROPN
alkej-775	241	12	q.	q.	PROPN
alkej-775	241	13	yousif	yousif	PROPN
alkej-775	241	14	.	.	PUNCT
alkej-775	242	1	"	"	PUNCT
alkej-775	242	2	a	a	DET
alkej-775	242	3	cognitive	cognitive	ADJ
alkej-775	242	4	hybrid	hybrid	ADJ
alkej-775	242	5	tuning	tuning	NOUN
alkej-775	242	6	control	control	NOUN
alkej-775	242	7	algorithm	algorithm	NOUN
alkej-775	242	8	design	design	NOUN
alkej-775	242	9	for	for	ADP
alkej-775	242	10	nonlinear	nonlinear	ADJ
alkej-775	242	11	path	path	NOUN
alkej-775	242	12	-	-	PUNCT
alkej-775	242	13	tracking	track	VERB
alkej-775	242	14	controller	controller	NOUN
alkej-775	242	15	for	for	ADP
alkej-775	242	16	wheeled	wheel	VERB
alkej-775	242	17	mobile	mobile	ADJ
alkej-775	242	18	robot	robot	NOUN
alkej-775	242	19	.	.	PUNCT
alkej-775	242	20	"	"	PUNCT
alkej-775	243	1	alkhwarizmi	alkhwarizmi	NOUN
alkej-775	243	2	engineering	engineering	PROPN
alkej-775	243	3	journal	journal	PROPN
alkej-775	243	4	13	13	NUM
alkej-775	243	5	,	,	PUNCT
alkej-775	243	6	no	no	INTJ
alkej-775	243	7	.	.	NOUN
alkej-775	243	8	3	3	NUM
alkej-775	243	9	:	:	SYM
alkej-775	243	10	6473	6473	NUM
alkej-775	243	11	,	,	PUNCT
alkej-775	243	12	2017	2017	NUM
alkej-775	243	13	.	.	PUNCT
alkej-775	244	1	[	[	X
alkej-775	244	2	4	4	X
alkej-775	244	3	]	]	PUNCT
alkej-775	244	4	b.	b.	PROPN
alkej-775	244	5	b.	b.	PROPN
alkej-775	244	6	kwame	kwame	PROPN
alkej-775	244	7	,	,	PUNCT
alkej-775	244	8	r.	r.	PROPN
alkej-775	244	9	chellali	chellali	PROPN
alkej-775	244	10	,	,	PUNCT
alkej-775	244	11	a.	a.	PROPN
alkej-775	244	12	y.	y.	PROPN
alkej-775	244	13	appiah	appiah	PROPN
alkej-775	244	14	,	,	PUNCT
alkej-775	244	15	and	and	CCONJ
alkej-775	244	16	f.	f.	PROPN
alkej-775	244	17	kyeremeh	kyeremeh	PROPN
alkej-775	244	18	.	.	PUNCT
alkej-775	245	1	"	"	PUNCT
alkej-775	245	2	an	an	DET
alkej-775	245	3	overview	overview	NOUN
alkej-775	245	4	of	of	ADP
alkej-775	245	5	natureinspired	natureinspired	ADJ
alkej-775	245	6	,	,	PUNCT
alkej-775	245	7	conventional	conventional	ADJ
alkej-775	245	8	,	,	PUNCT
alkej-775	245	9	and	and	CCONJ
alkej-775	245	10	hybrid	hybrid	ADJ
alkej-775	245	11	methods	method	NOUN
alkej-775	245	12	of	of	ADP
alkej-775	245	13	autonomous	autonomous	ADJ
alkej-775	245	14	vehicle	vehicle	NOUN
alkej-775	245	15	path	path	NOUN
alkej-775	245	16	planning	planning	NOUN
alkej-775	245	17	.	.	PUNCT
alkej-775	245	18	"	"	PUNCT
alkej-775	246	1	journal	journal	NOUN
alkej-775	246	2	of	of	ADP
alkej-775	246	3	advanced	advanced	ADJ
alkej-775	246	4	transportation	transportation	NOUN
alkej-775	246	5	,	,	PUNCT
alkej-775	246	6	2018	2018	NUM
alkej-775	246	7	.	.	PUNCT
alkej-775	247	1	[	[	X
alkej-775	247	2	5	5	NUM
alkej-775	247	3	]	]	PUNCT
alkej-775	247	4	i.	i.	PROPN
alkej-775	247	5	k.	k.	PROPN
alkej-775	247	6	ibraheem	ibraheem	PROPN
alkej-775	247	7	,	,	PUNCT
alkej-775	247	8	and	and	CCONJ
alkej-775	247	9	f.	f.	PROPN
alkej-775	247	10	h.	h.	PROPN
alkej-775	247	11	ajeil	ajeil	PROPN
alkej-775	247	12	.	.	PUNCT
alkej-775	248	1	"	"	PUNCT
alkej-775	248	2	path	path	NOUN
alkej-775	248	3	planning	planning	NOUN
alkej-775	248	4	of	of	ADP
alkej-775	248	5	an	an	DET
alkej-775	248	6	autonomous	autonomous	ADJ
alkej-775	248	7	mobile	mobile	NOUN
alkej-775	248	8	robot	robot	NOUN
alkej-775	248	9	using	use	VERB
alkej-775	248	10	swarm	swarm	NOUN
alkej-775	248	11	based	base	VERB
alkej-775	248	12	optimization	optimization	NOUN
alkej-775	248	13	techniques	technique	NOUN
alkej-775	248	14	.	.	PUNCT
alkej-775	248	15	"	"	PUNCT
alkej-775	249	1	alkhwarizmi	alkhwarizmi	NOUN
alkej-775	249	2	engineering	engineering	PROPN
alkej-775	249	3	journal	journal	PROPN
alkej-775	249	4	12	12	NUM
alkej-775	249	5	,	,	PUNCT
alkej-775	249	6	no	no	INTJ
alkej-775	249	7	.	.	NOUN
alkej-775	249	8	4	4	NUM
alkej-775	249	9	(	(	PUNCT
alkej-775	249	10	2016	2016	NUM
alkej-775	249	11	):	):	PUNCT
alkej-775	249	12	12	12	NUM
alkej-775	249	13	-	-	SYM
alkej-775	249	14	25	25	NUM
alkej-775	249	15	.	.	PUNCT
alkej-775	250	1	[	[	X
alkej-775	250	2	6	6	NUM
alkej-775	250	3	]	]	X
alkej-775	250	4	h.	h.	PROPN
alkej-775	250	5	kong	kong	PROPN
alkej-775	250	6	,	,	PUNCT
alkej-775	250	7	j.	j.	PROPN
alkej-775	250	8	sun	sun	PROPN
alkej-775	250	9	,	,	PUNCT
alkej-775	250	10	and	and	CCONJ
alkej-775	250	11	j.	j.	PROPN
alkej-775	250	12	hu	hu	PROPN
alkej-775	250	13	.	.	PUNCT
alkej-775	251	1	"	"	PUNCT
alkej-775	251	2	real	real	ADJ
alkej-775	251	3	-	-	PUNCT
alkej-775	251	4	time	time	NOUN
alkej-775	251	5	motion	motion	NOUN
alkej-775	251	6	planning	planning	NOUN
alkej-775	251	7	based	base	VERB
alkej-775	251	8	on	on	ADP
alkej-775	251	9	layered	layered	ADJ
alkej-775	251	10	cost	cost	NOUN
alkej-775	251	11	map	map	NOUN
alkej-775	251	12	for	for	ADP
alkej-775	251	13	agv	agv	NOUN
alkej-775	251	14	navigation	navigation	NOUN
alkej-775	251	15	.	.	PUNCT
alkej-775	251	16	"	"	PUNCT
alkej-775	252	1	in	in	ADP
alkej-775	252	2	2020	2020	NUM
alkej-775	252	3	chinese	chinese	ADJ
alkej-775	252	4	automation	automation	NOUN
alkej-775	252	5	congress	congress	PROPN
alkej-775	252	6	(	(	PUNCT
alkej-775	252	7	cac	cac	PROPN
alkej-775	252	8	)	)	PUNCT
alkej-775	252	9	,	,	PUNCT
alkej-775	252	10	pp	pp	ADJ
alkej-775	252	11	.	.	PUNCT
alkej-775	252	12	7624	7624	NUM
alkej-775	252	13	-	-	SYM
alkej-775	252	14	7628	7628	NUM
alkej-775	252	15	.	.	PUNCT
alkej-775	252	16	ieee	ieee	NOUN
alkej-775	252	17	,	,	PUNCT
alkej-775	252	18	2020	2020	NUM
alkej-775	252	19	.	.	PUNCT
alkej-775	253	1	[	[	X
alkej-775	253	2	7	7	X
alkej-775	253	3	]	]	X
alkej-775	253	4	c.	c.	PROPN
alkej-775	253	5	b.	b.	PROPN
alkej-775	253	6	lamini	lamini	PROPN
alkej-775	253	7	,	,	PUNCT
alkej-775	253	8	s.	s.	PROPN
alkej-775	253	9	and	and	CCONJ
alkej-775	253	10	,	,	PUNCT
alkej-775	253	11	a.	a.	NOUN
alkej-775	253	12	elbekri	elbekri	NOUN
alkej-775	253	13	.	.	PUNCT
alkej-775	254	1	"	"	PUNCT
alkej-775	254	2	genetic	genetic	ADJ
alkej-775	254	3	algorithm	algorithm	NOUN
alkej-775	254	4	based	base	VERB
alkej-775	254	5	approach	approach	NOUN
alkej-775	254	6	for	for	ADP
alkej-775	254	7	autonomous	autonomous	ADJ
alkej-775	254	8	mobile	mobile	PROPN
alkej-775	254	9	robot	robot	NOUN
alkej-775	254	10	path	path	NOUN
alkej-775	254	11	planning	planning	NOUN
alkej-775	254	12	"	"	PUNCT
alkej-775	254	13	.	.	PUNCT
alkej-775	255	1	procedia	procedia	PROPN
alkej-775	255	2	computer	computer	NOUN
alkej-775	255	3	science	science	NOUN
alkej-775	255	4	,	,	PUNCT
alkej-775	255	5	127	127	NUM
alkej-775	255	6	,	,	PUNCT
alkej-775	255	7	pp.180	pp.180	NOUN
alkej-775	255	8	-	-	SYM
alkej-775	255	9	184	184	NUM
alkej-775	255	10	,	,	PUNCT
alkej-775	255	11	2018	2018	NUM
alkej-775	255	12	[	[	X
alkej-775	255	13	8	8	NUM
alkej-775	255	14	]	]	PUNCT
alkej-775	255	15	r.	r.	PROPN
alkej-775	255	16	uriol	uriol	PROPN
alkej-775	255	17	,	,	PUNCT
alkej-775	255	18	and	and	CCONJ
alkej-775	255	19	a.	a.	PROPN
alkej-775	255	20	moran	moran	PROPN
alkej-775	255	21	.	.	PUNCT
alkej-775	256	1	"	"	PUNCT
alkej-775	256	2	mobile	mobile	ADJ
alkej-775	256	3	robot	robot	NOUN
alkej-775	256	4	path	path	NOUN
alkej-775	256	5	planning	planning	NOUN
alkej-775	256	6	in	in	ADP
alkej-775	256	7	complex	complex	ADJ
alkej-775	256	8	environments	environment	NOUN
alkej-775	256	9	using	use	VERB
alkej-775	256	10	ant	ant	ADJ
alkej-775	256	11	colony	colony	NOUN
alkej-775	256	12	optimization	optimization	NOUN
alkej-775	256	13	algorithm	algorithm	NOUN
alkej-775	256	14	.	.	PUNCT
alkej-775	256	15	"	"	PUNCT
alkej-775	257	1	in	in	ADP
alkej-775	257	2	2017	2017	NUM
alkej-775	257	3	3rd	3rd	ADJ
alkej-775	257	4	international	international	ADJ
alkej-775	257	5	conference	conference	NOUN
alkej-775	257	6	on	on	ADP
alkej-775	257	7	control	control	NOUN
alkej-775	257	8	,	,	PUNCT
alkej-775	257	9	automation	automation	NOUN
alkej-775	257	10	and	and	CCONJ
alkej-775	257	11	robotics	robotic	NOUN
alkej-775	257	12	(	(	PUNCT
alkej-775	257	13	iccar	iccar	NOUN
alkej-775	257	14	)	)	PUNCT
alkej-775	257	15	,	,	PUNCT
alkej-775	257	16	pp	pp	PROPN
alkej-775	257	17	.	.	PUNCT
alkej-775	257	18	15	15	NUM
alkej-775	257	19	-	-	SYM
alkej-775	257	20	21	21	NUM
alkej-775	257	21	.	.	PUNCT
alkej-775	257	22	ieee	ieee	NOUN
alkej-775	257	23	,	,	PUNCT
alkej-775	257	24	2017	2017	NUM
alkej-775	257	25	.	.	PUNCT
alkej-775	258	1	[	[	X
alkej-775	258	2	9	9	NUM
alkej-775	258	3	]	]	PUNCT
alkej-775	258	4	h.	h.	PROPN
alkej-775	258	5	s.	s.	PROPN
alkej-775	258	6	dewang	dewang	PROPN
alkej-775	258	7	,	,	PUNCT
alkej-775	258	8	p.	p.	PROPN
alkej-775	258	9	k.	k.	PROPN
alkej-775	258	10	mohanty	mohanty	PROPN
alkej-775	258	11	,	,	PUNCT
alkej-775	258	12	and	and	CCONJ
alkej-775	258	13	s.	s.	PROPN
alkej-775	258	14	kundu	kundu	PROPN
alkej-775	258	15	.	.	PUNCT
alkej-775	259	1	"	"	PUNCT
alkej-775	259	2	a	a	DET
alkej-775	259	3	robust	robust	ADJ
alkej-775	259	4	path	path	NOUN
alkej-775	259	5	planning	planning	NOUN
alkej-775	259	6	for	for	ADP
alkej-775	259	7	mobile	mobile	NOUN
alkej-775	259	8	robot	robot	NOUN
alkej-775	259	9	using	use	VERB
alkej-775	259	10	smart	smart	ADJ
alkej-775	259	11	particle	particle	NOUN
alkej-775	259	12	swarm	swarm	NOUN
alkej-775	259	13	optimization	optimization	NOUN
alkej-775	259	14	.	.	PUNCT
alkej-775	259	15	"	"	PUNCT
alkej-775	260	1	procedia	procedia	NOUN
alkej-775	260	2	computer	computer	NOUN
alkej-775	260	3	science	science	NOUN
alkej-775	260	4	133	133	NUM
alkej-775	260	5	(	(	PUNCT
alkej-775	260	6	2018	2018	NUM
alkej-775	260	7	):	):	PUNCT
alkej-775	260	8	290	290	NUM
alkej-775	260	9	-	-	SYM
alkej-775	260	10	297	297	NUM
alkej-775	260	11	.	.	PUNCT
alkej-775	261	1	tahseen	tahseen	PROPN
alkej-775	261	2	fadhil	fadhil	PROPN
alkej-775	261	3	abbas	abbas	PROPN
alkej-775	261	4	al	al	PROPN
alkej-775	261	5	-	-	PUNCT
alkej-775	261	6	khwarizmi	khwarizmi	PROPN
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alkej-775	261	8	journal	journal	PROPN
alkej-775	261	9	,	,	PUNCT
alkej-775	261	10	vol	vol	NOUN
alkej-775	261	11	.	.	PROPN
alkej-775	261	12	18	18	NUM
alkej-775	261	13	,	,	PUNCT
alkej-775	261	14	no	no	INTJ
alkej-775	261	15	.	.	NOUN
alkej-775	261	16	2	2	NUM
alkej-775	261	17	,	,	PUNCT
alkej-775	261	18	p.p	p.p	PROPN
alkej-775	261	19	.	.	NOUN
alkej-775	261	20	1328	1328	NUM
alkej-775	261	21	(	(	PUNCT
alkej-775	261	22	2022	2022	NUM
alkej-775	261	23	)	)	PUNCT
alkej-775	261	24	27	27	NUM
alkej-775	262	1	[	[	SYM
alkej-775	262	2	10	10	NUM
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alkej-775	262	4	r.	r.	PROPN
alkej-775	262	5	t.	t.	PROPN
alkej-775	262	6	kamil	kamil	PROPN
alkej-775	262	7	,	,	PUNCT
alkej-775	262	8	,	,	PUNCT
alkej-775	262	9	m.	m.	PROPN
alkej-775	262	10	j.	j.	PROPN
alkej-775	262	11	mohamed	mohamed	PROPN
alkej-775	262	12	,	,	PUNCT
alkej-775	262	13	and	and	CCONJ
alkej-775	262	14	bashra	bashra	PROPN
alkej-775	262	15	k.	k.	PROPN
alkej-775	262	16	oleiwi	oleiwi	PROPN
alkej-775	262	17	.	.	PUNCT
alkej-775	263	1	"	"	PUNCT
alkej-775	263	2	path	path	NOUN
alkej-775	263	3	planning	planning	NOUN
alkej-775	263	4	of	of	ADP
alkej-775	263	5	mobile	mobile	NOUN
alkej-775	263	6	robot	robot	NOUN
alkej-775	263	7	using	use	VERB
alkej-775	263	8	improved	improve	VERB
alkej-775	263	9	artificial	artificial	ADJ
alkej-775	263	10	bee	bee	NOUN
alkej-775	263	11	colony	colony	NOUN
alkej-775	263	12	algorithm	algorithm	NOUN
alkej-775	263	13	.	.	PUNCT
alkej-775	263	14	"	"	PUNCT
alkej-775	264	1	engineering	engineering	NOUN
alkej-775	264	2	and	and	CCONJ
alkej-775	264	3	technology	technology	NOUN
alkej-775	264	4	journal	journal	NOUN
alkej-775	264	5	38	38	NUM
alkej-775	264	6	,	,	PUNCT
alkej-775	264	7	no	no	INTJ
alkej-775	264	8	.	.	PUNCT
alkej-775	264	9	9a	9a	NOUN
alkej-775	264	10	:	:	PUNCT
alkej-775	264	11	1384	1384	NUM
alkej-775	264	12	-	-	SYM
alkej-775	264	13	1395	1395	NUM
alkej-775	264	14	,	,	PUNCT
alkej-775	264	15	2020	2020	NUM
alkej-775	264	16	.	.	PUNCT
alkej-775	265	1	[	[	X
alkej-775	265	2	11	11	NUM
alkej-775	265	3	]	]	X
alkej-775	265	4	f.	f.	PROPN
alkej-775	265	5	h.	h.	PROPN
alkej-775	265	6	ajeil	ajeil	PROPN
alkej-775	265	7	,	,	PUNCT
alkej-775	265	8	i.	i.	PROPN
alkej-775	265	9	k.	k.	PROPN
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alkej-775	265	11	,	,	PUNCT
alkej-775	265	12	m.	m.	NOUN
alkej-775	265	13	a.	a.	NOUN
alkej-775	265	14	sahib	sahib	PROPN
alkej-775	265	15	,	,	PUNCT
alkej-775	265	16	and	and	CCONJ
alkej-775	265	17	a.	a.	PROPN
alkej-775	265	18	j.	j.	PROPN
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alkej-775	265	20	.	.	PUNCT
alkej-775	266	1	"	"	PUNCT
alkej-775	266	2	multi	multi	ADJ
alkej-775	266	3	-	-	ADJ
alkej-775	266	4	objective	objective	ADJ
alkej-775	266	5	path	path	NOUN
alkej-775	266	6	planning	planning	NOUN
alkej-775	266	7	of	of	ADP
alkej-775	266	8	an	an	DET
alkej-775	266	9	autonomous	autonomous	ADJ
alkej-775	266	10	mobile	mobile	NOUN
alkej-775	266	11	robot	robot	NOUN
alkej-775	266	12	using	use	VERB
alkej-775	266	13	hybrid	hybrid	ADJ
alkej-775	266	14	pso	pso	NOUN
alkej-775	266	15	-	-	PUNCT
alkej-775	266	16	mfb	mfb	NOUN
alkej-775	266	17	optimization	optimization	NOUN
alkej-775	266	18	algorithm	algorithm	NOUN
alkej-775	266	19	.	.	PUNCT
alkej-775	266	20	"	"	PUNCT
alkej-775	266	21	applied	apply	VERB
alkej-775	266	22	soft	soft	ADJ
alkej-775	266	23	computing	computing	NOUN
alkej-775	266	24	vol	vol	NOUN
alkej-775	266	25	89	89	NUM
alkej-775	266	26	:	:	PUNCT
alkej-775	266	27	106076	106076	NUM
alkej-775	266	28	,	,	PUNCT
alkej-775	266	29	2020	2020	NUM
alkej-775	266	30	.	.	PUNCT
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alkej-775	267	2	12	12	NUM
alkej-775	267	3	]	]	PUNCT
alkej-775	267	4	a.	a.	NOUN
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alkej-775	267	8	k.	k.	PROPN
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alkej-775	267	12	t.	t.	PROPN
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alkej-775	268	1	"	"	PUNCT
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alkej-775	268	6	robot	robot	NOUN
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alkej-775	268	8	grey	grey	PROPN
alkej-775	268	9	wolf	wolf	PROPN
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alkej-775	268	11	optimization	optimization	NOUN
alkej-775	268	12	.	.	PUNCT
alkej-775	268	13	"	"	PUNCT
alkej-775	269	1	materials	material	NOUN
alkej-775	269	2	today	today	NOUN
alkej-775	269	3	:	:	PUNCT
alkej-775	269	4	proceedings	proceeding	NOUN
alkej-775	269	5	5	5	NUM
alkej-775	269	6	,	,	PUNCT
alkej-775	269	7	no	no	INTJ
alkej-775	269	8	.	.	NOUN
alkej-775	270	1	9:19116	9:19116	NUM
alkej-775	270	2	-	-	PUNCT
alkej-775	270	3	19125	19125	NUM
alkej-775	270	4	,	,	PUNCT
alkej-775	270	5	2018	2018	NUM
alkej-775	270	6	.	.	PUNCT
alkej-775	271	1	[	[	X
alkej-775	271	2	13	13	NUM
alkej-775	271	3	]	]	PUNCT
alkej-775	271	4	m.	m.	NOUN
alkej-775	271	5	m.	m.	PROPN
alkej-775	271	6	al	al	PROPN
alkej-775	271	7	-	-	PUNCT
alkej-775	271	8	nayar	nayar	PROPN
alkej-775	271	9	,	,	PUNCT
alkej-775	271	10	k.	k.	PROPN
alkej-775	271	11	e.	e.	PROPN
alkej-775	271	12	dagher	dagher	PROPN
alkej-775	271	13	,	,	PUNCT
alkej-775	271	14	and	and	CCONJ
alkej-775	271	15	e.	e.	PROPN
alkej-775	271	16	a.	a.	PROPN
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alkej-775	271	18	.	.	PUNCT
alkej-775	272	1	"	"	PUNCT
alkej-775	272	2	a	a	DET
alkej-775	272	3	comparative	comparative	ADJ
alkej-775	272	4	study	study	NOUN
alkej-775	272	5	for	for	ADP
alkej-775	272	6	wheeled	wheel	VERB
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alkej-775	272	8	robot	robot	NOUN
alkej-775	272	9	path	path	NOUN
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alkej-775	272	12	on	on	ADP
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alkej-775	272	15	algorithms	algorithm	NOUN
alkej-775	272	16	.	.	PUNCT
alkej-775	272	17	"	"	PUNCT
alkej-775	273	1	the	the	DET
alkej-775	273	2	iraqi	iraqi	ADJ
alkej-775	273	3	journal	journal	NOUN
alkej-775	273	4	for	for	ADP
alkej-775	273	5	mechanical	mechanical	ADJ
alkej-775	273	6	and	and	CCONJ
alkej-775	273	7	materials	material	NOUN
alkej-775	273	8	engineering	engineering	NOUN
alkej-775	273	9	19	19	NUM
alkej-775	273	10	,	,	PUNCT
alkej-775	273	11	no	no	INTJ
alkej-775	273	12	.	.	NOUN
alkej-775	273	13	1	1	NUM
alkej-775	273	14	:	:	SYM
alkej-775	273	15	60	60	NUM
alkej-775	273	16	-	-	SYM
alkej-775	273	17	74	74	NUM
alkej-775	273	18	,	,	PUNCT
alkej-775	273	19	2019	2019	NUM
alkej-775	273	20	.	.	PUNCT
alkej-775	274	1	[	[	X
alkej-775	274	2	14	14	NUM
alkej-775	274	3	]	]	PUNCT
alkej-775	274	4	s.	s.	PROPN
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alkej-775	274	7	m.	m.	PROPN
alkej-775	274	8	h.	h.	PROPN
alkej-775	274	9	,	,	PUNCT
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alkej-775	274	11	,	,	PUNCT
alkej-775	274	12	and	and	CCONJ
alkej-775	274	13	s.	s.	PROPN
alkej-775	274	14	mirjalili	mirjalili	PROPN
alkej-775	274	15	.	.	PUNCT
alkej-775	275	1	"	"	PUNCT
alkej-775	275	2	an	an	DET
alkej-775	275	3	improved	improved	ADJ
alkej-775	275	4	grey	grey	NOUN
alkej-775	275	5	wolf	wolf	NOUN
alkej-775	275	6	optimizer	optimizer	NOUN
alkej-775	275	7	for	for	ADP
alkej-775	275	8	solving	solve	VERB
alkej-775	275	9	engineering	engineering	NOUN
alkej-775	275	10	problems	problem	NOUN
alkej-775	275	11	.	.	PUNCT
alkej-775	275	12	"	"	PUNCT
alkej-775	276	1	expert	expert	ADJ
alkej-775	276	2	systems	system	NOUN
alkej-775	276	3	with	with	ADP
alkej-775	276	4	applications	application	NOUN
alkej-775	276	5	vol	vol	NOUN
alkej-775	276	6	166	166	NUM
alkej-775	276	7	:	:	PUNCT
alkej-775	276	8	113917	113917	NUM
alkej-775	276	9	,	,	PUNCT
alkej-775	276	10	2021	2021	NUM
alkej-775	276	11	.	.	PUNCT
alkej-775	277	1	[	[	X
alkej-775	277	2	15	15	NUM
alkej-775	277	3	]	]	PUNCT
alkej-775	277	4	t.	t.	PROPN
alkej-775	277	5	f.	f.	PROPN
alkej-775	277	6	abaas	abaas	PROPN
alkej-775	277	7	,	,	PUNCT
alkej-775	277	8	and	and	CCONJ
alkej-775	277	9	a.	a.	PROPN
alkej-775	277	10	h.	h.	PROPN
alkej-775	277	11	shabeeb	shabeeb	PROPN
alkej-775	277	12	.	.	PUNCT
alkej-775	278	1	"	"	PUNCT
alkej-775	278	2	safe	safe	ADJ
alkej-775	278	3	and	and	CCONJ
alkej-775	278	4	optimum	optimum	ADJ
alkej-775	278	5	navigation	navigation	NOUN
alkej-775	278	6	of	of	ADP
alkej-775	278	7	wheeled	wheel	VERB
alkej-775	278	8	mobile	mobile	ADJ
alkej-775	278	9	robot	robot	NOUN
alkej-775	278	10	using	use	VERB
alkej-775	278	11	grey	grey	PROPN
alkej-775	278	12	wolf	wolf	PROPN
alkej-775	278	13	optimization	optimization	NOUN
alkej-775	278	14	algorithm	algorithm	NOUN
alkej-775	278	15	.	.	PUNCT
alkej-775	278	16	"	"	PUNCT
alkej-775	279	1	iop	iop	PROPN
alkej-775	279	2	conference	conference	NOUN
alkej-775	279	3	series	series	NOUN
alkej-775	279	4	:	:	PUNCT
alkej-775	279	5	materials	material	NOUN
alkej-775	279	6	science	science	NOUN
alkej-775	279	7	and	and	CCONJ
alkej-775	279	8	engineering	engineering	NOUN
alkej-775	279	9	.	.	PUNCT
alkej-775	280	1	vol	vol	NOUN
alkej-775	280	2	.	.	PROPN
alkej-775	281	1	928	928	NUM
alkej-775	281	2	.	.	PUNCT
alkej-775	282	1	no	no	INTJ
alkej-775	282	2	.	.	NOUN
alkej-775	283	1	2	2	X
alkej-775	283	2	.	.	X
alkej-775	283	3	iop	iop	NOUN
alkej-775	283	4	publishing	publishing	NOUN
alkej-775	283	5	,	,	PUNCT
alkej-775	283	6	2020	2020	NUM
alkej-775	283	7	.	.	PUNCT
alkej-775	284	1	[	[	X
alkej-775	284	2	16	16	NUM
alkej-775	284	3	]	]	X
alkej-775	284	4	d.	d.	PROPN
alkej-775	284	5	pang	pang	PROPN
alkej-775	284	6	,	,	PUNCT
alkej-775	284	7	g.	g.	PROPN
alkej-775	284	8	guan	guan	PROPN
alkej-775	284	9	,	,	PUNCT
alkej-775	284	10	and	and	CCONJ
alkej-775	284	11	j.	j.	PROPN
alkej-775	284	12	li	li	PROPN
alkej-775	284	13	.	.	PUNCT
alkej-775	285	1	"	"	PUNCT
alkej-775	285	2	chaotic	chaotic	ADJ
alkej-775	285	3	firefly	firefly	NOUN
alkej-775	285	4	algorithm	algorithm	NOUN
alkej-775	285	5	with	with	ADP
alkej-775	285	6	the	the	DET
alkej-775	285	7	optimization	optimization	NOUN
alkej-775	285	8	adjustment	adjustment	NOUN
alkej-775	285	9	strategy	strategy	NOUN
alkej-775	285	10	for	for	ADP
alkej-775	285	11	mobile	mobile	ADJ
alkej-775	285	12	robot	robot	NOUN
alkej-775	285	13	path	path	NOUN
alkej-775	285	14	planning	planning	NOUN
alkej-775	285	15	.	.	PUNCT
alkej-775	285	16	"	"	PUNCT
alkej-775	286	1	international	international	ADJ
alkej-775	286	2	journal	journal	NOUN
alkej-775	286	3	of	of	ADP
alkej-775	286	4	science	science	NOUN
alkej-775	286	5	4	4	NUM
alkej-775	286	6	,	,	PUNCT
alkej-775	286	7	no	no	INTJ
alkej-775	286	8	.	.	NOUN
alkej-775	286	9	3	3	NUM
alkej-775	286	10	(	(	PUNCT
alkej-775	286	11	2017	2017	NUM
alkej-775	286	12	)	)	PUNCT
alkej-775	286	13	.	.	PUNCT
alkej-775	287	1	[	[	X
alkej-775	287	2	17	17	NUM
alkej-775	287	3	]	]	X
alkej-775	287	4	n.h	n.h	PROPN
alkej-775	287	5	.	.	PROPN
alkej-775	287	6	abbas	abbas	PROPN
alkej-775	287	7	and	and	CCONJ
alkej-775	287	8	ali	ali	PROPN
alkej-775	287	9	,	,	PUNCT
alkej-775	287	10	f.m	f.m	PROPN
alkej-775	287	11	.	.	PROPN
alkej-775	287	12	,	,	PUNCT
alkej-775	287	13	path	path	NOUN
alkej-775	287	14	planning	planning	NOUN
alkej-775	287	15	of	of	ADP
alkej-775	287	16	an	an	DET
alkej-775	287	17	autonomous	autonomous	ADJ
alkej-775	287	18	mobile	mobile	NOUN
alkej-775	287	19	robot	robot	NOUN
alkej-775	287	20	using	use	VERB
alkej-775	287	21	enhanced	enhance	VERB
alkej-775	287	22	bacterial	bacterial	ADJ
alkej-775	287	23	foraging	forage	VERB
alkej-775	287	24	optimization	optimization	NOUN
alkej-775	287	25	algorithm	algorithm	NOUN
alkej-775	287	26	.	.	PUNCT
alkej-775	288	1	alkhwarizmi	alkhwarizmi	NOUN
alkej-775	288	2	engineering	engineering	PROPN
alkej-775	288	3	journal	journal	PROPN
alkej-775	288	4	,	,	PUNCT
alkej-775	288	5	12(4	12(4	NUM
alkej-775	288	6	)	)	PUNCT
alkej-775	288	7	,	,	PUNCT
alkej-775	288	8	pp.2635	pp.2635	PROPN
alkej-775	288	9	,	,	PUNCT
alkej-775	288	10	2016	2016	NUM
alkej-775	288	11	.	.	PUNCT
alkej-775	288	12	)	)	PUNCT
alkej-775	288	13	2022	2022	NUM
alkej-775	288	14	(	(	PUNCT
alkej-775	288	15	1328	1328	NUM
alkej-775	288	16	،	،	NOUN
alkej-775	288	17	صفحة	صفحة	PROPN
alkej-775	288	18	2العدد	2العدد	NUM
alkej-775	288	19	،	،	NOUN
alkej-775	288	20	18مجلة	18مجلة	PRON
alkej-775	288	21	الخوارزمي	الخوارزمي	VERB
alkej-775	288	22	الهندسية	الهندسية	PROPN
alkej-775	288	23	المجلد	المجلد	PROPN
alkej-775	288	24	تحسين	تحسين	PROPN
alkej-775	288	25	فاضل	فاضل	PROPN
alkej-775	288	26	عباس	عباس	VERB
alkej-775	289	1	28	28	NUM
alkej-775	289	2	gwo	gwo	PROPN
alkej-775	289	3	تخطيط	تخطيط	PROPN
alkej-775	289	4	المسار	المسار	PROPN
alkej-775	289	5	وتجنب	وتجنب	PROPN
alkej-775	290	1	العوائق	العوائق	PROPN
alkej-775	290	2	لروبوت	لروبوت	PROPN
alkej-775	290	3	متنقل	متنقل	ADJ
alkej-775	290	4	على	على	PROPN
alkej-775	290	5	أساس	أساس	NOUN
alkej-775	290	6	خوارزمية	خوارزمية	VERB
alkej-775	290	7	*	*	PUNCT
alkej-775	290	8	*	*	PUNCT
alkej-775	290	9	عالء	عالء	NOUN
alkej-775	290	10	حسن	حسن	NOUN
alkej-775	290	11	شبيب	شبيب	PROPN
alkej-775	290	12	*	*	PUNCT
alkej-775	290	13	تحسين	تحسين	PROPN
alkej-775	290	14	فاضل	فاضل	PROPN
alkej-775	290	15	عباس	عباس	VERB
alkej-775	290	16	العراق	العراق	PROPN
alkej-775	290	17	/بغداد	/بغداد	PUNCT
alkej-775	290	18	/الجامعة	/الجامعة	PRON
alkej-775	290	19	التكنولوجية	التكنولوجية	NOUN
alkej-775	290	20	/	/	SYM
alkej-775	290	21	قسم	قسم	PROPN
alkej-775	290	22	هندسة	هندسة	NOUN
alkej-775	290	23	اإلنتاج	اإلنتاج	PROPN
alkej-775	290	24	والمعادن	والمعادن	PROPN
alkej-775	290	25	*	*	PROPN
alkej-775	290	26	،	،	X
alkej-775	290	27	*	*	X
alkej-775	290	28	*	*	PUNCT
alkej-775	290	29	uotechnology.edu.iq@70047بريد	uotechnology.edu.iq@70047بريد	ADJ
alkej-775	290	30	إلكتروني	إلكتروني	NOUN
alkej-775	290	31	:	:	PUNCT
alkej-775	290	32	*	*	PUNCT
alkej-775	291	1	alaa.h.shabeeb@uotechnology.edu.iqبريد	alaa.h.shabeeb@uotechnology.edu.iqبريد	DET
alkej-775	291	2	إلكتروني	إلكتروني	NOUN
alkej-775	291	3	:	:	PUNCT
alkej-775	292	1	*	*	PUNCT
alkej-775	292	2	*	*	PUNCT
alkej-775	292	3	الخالصة	الخالصة	PROPN
alkej-775	292	4	بإيجاد	بإيجاد	PROPN
alkej-775	292	5	طريق	طريق	PROPN
alkej-775	292	6	آمن	آمن	NOUN
alkej-775	292	7	وفعال	وفعال	NOUN
alkej-775	292	8	في	في	ADP
alkej-775	292	9	بيئة	بيئة	PROPN
alkej-775	292	10	مزدحمة	مزدحمة	PROPN
alkej-775	292	11	نظًرا	نظًرا	PROPN
alkej-775	292	12	ألنه	ألنه	PROPN
alkej-775	292	13	مرتبط	مرتبط	PROPN
alkej-775	292	14	،	،	PROPN
alkej-775	292	15	تعد	تعد	NOUN
alkej-775	292	16	مشكلة	مشكلة	VERB
alkej-775	292	17	تخطيط	تخطيط	ADJ
alkej-775	292	18	المسار	المسار	NOUN
alkej-775	292	19	من	من	INTJ
alkej-775	292	20	بين	بين	ADV
alkej-775	292	21	المشكالت	المشكالت	ADJ
alkej-775	292	22	األكثر	األكثر	NOUN
alkej-775	292	23	أهمية	أهمية	PROPN
alkej-775	292	24	في	في	ADP
alkej-775	292	25	مجال	مجال	ADJ
alkej-775	292	26	أبحاث	أبحاث	ADJ
alkej-775	292	27	الروبوتات	الروبوتات	NOUN
alkej-775	292	28	متنقل	متنقل	NOUN
alkej-775	292	29	.	.	PUNCT
alkej-775	293	1	تقترح	تقترح	PROPN
alkej-775	293	2	هذه	هذه	PROPN
alkej-775	293	3	الورقة	الورقة	PROPN
alkej-775	293	4	التخطيط	التخطيط	VERB
alkej-775	293	5	األسرع	األسرع	PROPN
alkej-775	293	6	واألمثل	واألمثل	ADJ
alkej-775	293	7	لمسار	لمسار	PROPN
alkej-775	293	8	الروبوت	الروبوت	PROPN
alkej-775	293	9	للروبوتات	للروبوتات	PROPN
alkej-775	293	10	المتنقلة	المتنقلة	PROPN
alkej-775	293	11	ذات	ذات	VERB
alkej-775	293	12	العجالت	العجالت	ADJ
alkej-775	293	13	،	،	X
alkej-775	293	14	ويعتبر	ويعتبر	NOUN
alkej-775	293	15	شرطًا	شرطًا	ADJ
alkej-775	293	16	أساسيًا	أساسيًا	PROPN
alkej-775	293	17	مهًما	مهًما	X
alkej-775	293	18	لنجاح	لنجاح	NOUN
alkej-775	293	19	أي	أي	VERB
alkej-775	293	20	مشروع	مشروع	ADV
alkej-775	293	21	روبوت	روبوت	PROPN
alkej-775	293	22	.كطريقة	.كطريقة	ADP
alkej-775	293	23	للعثور	للعثور	PROPN
alkej-775	293	24	على	على	PROPN
alkej-775	293	25	أقصر	أقصر	PROPN
alkej-775	293	26	الطرق	الطرق	NOUN
alkej-775	293	27	وأكثرها	وأكثرها	PROPN
alkej-775	293	28	أماًنا	أماًنا	PROPN
alkej-775	293	29	(	(	PUNCT
alkej-775	293	30	gwo	gwo	NOUN
alkej-775	293	31	)	)	PUNCT
alkej-775	293	32	المتحرك	المتحرك	NOUN
alkej-775	294	1	ذي	ذي	INTJ
alkej-775	294	2	العجالت	العجالت	ADV
alkej-775	294	3	مع	مع	INTJ
alkej-775	294	4	تجنب	تجنب	VERB
alkej-775	294	5	االصطدام	االصطدام	PROPN
alkej-775	294	6	باستخدام	باستخدام	PROPN
alkej-775	294	7	خوارزمية	خوارزمية	PROPN
alkej-775	294	8	تسمى	تسمى	PROPN
alkej-775	294	9	تحسين	تحسين	NOUN
alkej-775	294	10	الذئب	الذئب	VERB
alkej-775	294	11	الرمادي	الرمادي	NOUN
alkej-775	294	12	.	.	PUNCT
alkej-775	295	1	تأثير	تأثير	NOUN
alkej-775	295	2	عدد	عدد	PROPN
alkej-775	295	3	المعوقات	المعوقات	PROPN
alkej-775	295	4	ومعلمات	ومعلمات	VERB
alkej-775	295	5	التصميم	التصميم	PROPN
alkej-775	295	6	على	على	NOUN
alkej-775	295	7	أداء	أداء	PROPN
alkej-775	295	8	الخوارزمية	الخوارزمية	PROPN
alkej-775	295	9	إليجاد	إليجاد	PROPN
alkej-775	295	10	المسار	المسار	PROPN
alkej-775	295	11	األفضل	األفضل	PROPN
alkej-775	295	12	تهدف	تهدف	VERB
alkej-775	295	13	أهداف	أهداف	NOUN
alkej-775	295	14	البحث	البحث	VERB
alkej-775	295	15	في	في	ADP
alkej-775	296	1	هذه	هذه	PROPN
alkej-775	296	2	الدراسة	الدراسة	PROPN
alkej-775	296	3	إلى	إلى	PROPN
alkej-775	296	4	تحديد	تحديد	PROPN
alkej-775	296	5	المسار	المسار	PROPN
alkej-775	296	6	األفضل	األفضل	PROPN
alkej-775	297	1	مع	مع	INTJ
alkej-775	297	2	مراعاة	مراعاة	PROPN
alkej-775	297	3	عمليات	عمليات	PROPN
alkej-775	297	4	المحاكاة	المحاكاة	PROPN
alkej-775	297	5	أن	أن	PROPN
alkej-775	297	6	خوارزمية	خوارزمية	PROPN
alkej-775	297	7	تخطيط	تخطيط	PROPN
alkej-775	297	8	المسار	المسار	PROPN
alkej-775	297	9	المقترحة	المقترحة	PROPN
alkej-775	297	10	نتائج	نتائج	PROPN
alkej-775	298	1	أظهرت	أظهرت	PROPN
alkej-775	298	2	.لتقييم	.لتقييم	NUM
alkej-775	298	3	كفاءة	كفاءة	NOUN
alkej-775	298	4	الخوارزمية	الخوارزمية	PROPN
alkej-775	298	5	المقترحة	المقترحة	PROPN
alkej-775	298	6	matlab	matlab	PROPN
alkej-775	298	7	عمليات	عمليات	PROPN
alkej-775	298	8	المحاكاة	المحاكاة	PROPN
alkej-775	298	9	في	في	ADP
alkej-775	298	10	بيئة	بيئة	PROPN
alkej-775	299	1	تنفيذ	تنفيذ	PROPN
alkej-775	299	2	يتم	يتم	PROPN
alkej-775	299	3	عالوة	عالوة	PROPN
alkej-775	299	4	على	على	PROPN
alkej-775	299	5	ذلك	ذلك	PROPN
alkej-775	299	6	،	،	PROPN
alkej-775	299	7	تم	تم	PUNCT
alkej-775	300	1	إثبات	إثبات	NOUN
alkej-775	300	2	تفوق	تفوق	PUNCT
alkej-775	300	3	الخوارزمية	الخوارزمية	ADJ
alkej-775	300	4	مختلفة	مختلفة	PROPN
alkej-775	300	5	.	.	PUNCT
alkej-775	301	1	تحتوي	تحتوي	PROPN
alkej-775	301	2	على	على	PROPN
alkej-775	301	3	عوائق	عوائق	ADJ
alkej-775	301	4	بيئات	بيئات	NOUN
alkej-775	301	5	في	في	ADP
alkej-775	302	1	من	من	PRON
alkej-775	302	2	خالل	خالل	PROPN
alkej-775	302	3	إيجاد	إيجاد	PROPN
alkej-775	302	4	أقصر	أقصر	PROPN
alkej-775	302	5	مسار	مسار	INTJ
alkej-775	302	6	وخالي	وخالي	ADJ
alkej-775	302	7	من	من	INTJ
alkej-775	302	8	االصطدامات	االصطدامات	VERB
alkej-775	302	9	فعال	فعال	PROPN
alkej-775	302	10	تؤدي	تؤدي	ADJ
alkej-775	302	11	أداء	أداء	NOUN
alkej-775	302	12	.المقترحة	.المقترحة	PUNCT
alkej-775	303	1	من	من	PROPN
alkej-775	303	2	خالل	خالل	PROPN
alkej-775	303	3	مقارنات	مقارنات	PROPN
alkej-775	304	1	مع	مع	PROPN
alkej-775	304	2	خوارزميات	خوارزميات	PROPN
alkej-775	304	3	تخطيط	تخطيط	PROPN
alkej-775	304	4	المسار	المسار	PROPN
alkej-775	304	5	الشهيرة	الشهيرة	PROPN
alkej-775	304	6	األخرى	األخرى	PROPN
alkej-775	304	7	مع	مع	PROPN
alkej-775	304	8	بيئات	بيئات	NOUN
alkej-775	304	9	ثابتة	ثابتة	PROPN
alkej-775	304	10	مختلفة	مختلفة	PROPN