id	sid	tid	token	lemma	pos
fcis-14570	1	1	frontiers	frontier	NOUN
fcis-14570	1	2	in	in	ADP
fcis-14570	1	3	computing	computing	NOUN
fcis-14570	1	4	and	and	CCONJ
fcis-14570	1	5	intelligent	intelligent	ADJ
fcis-14570	1	6	systems	system	NOUN
fcis-14570	1	7	issn	issn	VERB
fcis-14570	1	8	:	:	PUNCT
fcis-14570	1	9	2832	2832	NUM
fcis-14570	1	10	-	-	SYM
fcis-14570	1	11	6024	6024	NUM
fcis-14570	1	12	|	|	NOUN
fcis-14570	1	13	vol	vol	NOUN
fcis-14570	1	14	.	.	PROPN
fcis-14570	2	1	6	6	NUM
fcis-14570	2	2	,	,	PUNCT
fcis-14570	2	3	no	no	INTJ
fcis-14570	2	4	.	.	NOUN
fcis-14570	2	5	1	1	NUM
fcis-14570	2	6	,	,	PUNCT
fcis-14570	2	7	2023	2023	NUM
fcis-14570	2	8	37	37	NUM
fcis-14570	2	9	robot	robot	NOUN
fcis-14570	2	10	path	path	NOUN
fcis-14570	2	11	planning	planning	NOUN
fcis-14570	2	12	algorithm	algorithm	NOUN
fcis-14570	2	13	based	base	VERB
fcis-14570	2	14	on	on	ADP
fcis-14570	2	15	improved	improve	VERB
fcis-14570	3	1	a	a	DET
fcis-14570	3	2	*	*	PUNCT
fcis-14570	3	3	and	and	CCONJ
fcis-14570	3	4	dwa	dwa	PROPN
fcis-14570	3	5	haisheng	haisheng	PROPN
fcis-14570	3	6	song	song	PROPN
fcis-14570	3	7	,	,	PUNCT
fcis-14570	3	8	deyang	deyang	PROPN
fcis-14570	3	9	zhang	zhang	PROPN
fcis-14570	3	10	*	*	PROPN
fcis-14570	3	11	collage	collage	PROPN
fcis-14570	3	12	of	of	ADP
fcis-14570	3	13	physics	physics	NOUN
fcis-14570	3	14	and	and	CCONJ
fcis-14570	3	15	electronic	electronic	ADJ
fcis-14570	3	16	engineering	engineering	NOUN
fcis-14570	3	17	,	,	PUNCT
fcis-14570	3	18	northwest	northwest	PROPN
fcis-14570	3	19	normal	normal	ADJ
fcis-14570	3	20	university	university	NOUN
fcis-14570	3	21	,	,	PUNCT
fcis-14570	3	22	lanzhou	lanzhou	PROPN
fcis-14570	3	23	,	,	PUNCT
fcis-14570	3	24	gansu	gansu	PROPN
fcis-14570	3	25	730070	730070	NUM
fcis-14570	3	26	,	,	PUNCT
fcis-14570	3	27	china	china	PROPN
fcis-14570	3	28	*	*	PUNCT
fcis-14570	3	29	corresponding	correspond	VERB
fcis-14570	3	30	author	author	NOUN
fcis-14570	3	31	:	:	PUNCT
fcis-14570	3	32	deyang	deyang	PROPN
fcis-14570	3	33	zhang	zhang	PROPN
fcis-14570	3	34	(	(	PUNCT
fcis-14570	3	35	email	email	NOUN
fcis-14570	3	36	:	:	PUNCT
fcis-14570	3	37	1361610916@qq.com	1361610916@qq.com	NUM
fcis-14570	3	38	)	)	PUNCT
fcis-14570	3	39	abstract	abstract	NOUN
fcis-14570	3	40	:	:	PUNCT
fcis-14570	3	41	aiming	aim	VERB
fcis-14570	3	42	at	at	ADP
fcis-14570	3	43	the	the	DET
fcis-14570	3	44	problems	problem	NOUN
fcis-14570	3	45	of	of	ADP
fcis-14570	3	46	low	low	ADJ
fcis-14570	3	47	search	search	NOUN
fcis-14570	3	48	efficiency	efficiency	NOUN
fcis-14570	3	49	of	of	ADP
fcis-14570	3	50	a	a	DET
fcis-14570	3	51	*	*	ADJ
fcis-14570	3	52	algorithm	algorithm	NOUN
fcis-14570	3	53	in	in	ADP
fcis-14570	3	54	traditional	traditional	ADJ
fcis-14570	3	55	path	path	NOUN
fcis-14570	3	56	planning	planning	NOUN
fcis-14570	3	57	,	,	PUNCT
fcis-14570	3	58	many	many	ADJ
fcis-14570	3	59	redundant	redundant	ADJ
fcis-14570	3	60	points	point	NOUN
fcis-14570	3	61	,	,	PUNCT
fcis-14570	3	62	and	and	CCONJ
fcis-14570	3	63	inability	inability	NOUN
fcis-14570	3	64	to	to	PART
fcis-14570	3	65	avoid	avoid	VERB
fcis-14570	3	66	unknown	unknown	ADJ
fcis-14570	3	67	obstacles	obstacle	NOUN
fcis-14570	3	68	in	in	ADP
fcis-14570	3	69	real	real	ADJ
fcis-14570	3	70	-	-	PUNCT
fcis-14570	3	71	time	time	NOUN
fcis-14570	3	72	in	in	ADP
fcis-14570	3	73	complex	complex	ADJ
fcis-14570	3	74	environments	environment	NOUN
fcis-14570	3	75	,	,	PUNCT
fcis-14570	3	76	this	this	DET
fcis-14570	3	77	paper	paper	NOUN
fcis-14570	3	78	proposes	propose	VERB
fcis-14570	3	79	a	a	DET
fcis-14570	3	80	path	path	NOUN
fcis-14570	3	81	planning	planning	NOUN
fcis-14570	3	82	algorithm	algorithm	NOUN
fcis-14570	3	83	based	base	VERB
fcis-14570	3	84	on	on	ADP
fcis-14570	3	85	a	a	PRON
fcis-14570	3	86	*	*	PUNCT
fcis-14570	3	87	combined	combine	VERB
fcis-14570	3	88	with	with	ADP
fcis-14570	3	89	dynamic	dynamic	ADJ
fcis-14570	3	90	window	window	NOUN
fcis-14570	3	91	approach	approach	NOUN
fcis-14570	3	92	(	(	PUNCT
fcis-14570	3	93	dwa	dwa	NOUN
fcis-14570	3	94	)	)	PUNCT
fcis-14570	3	95	algorithm	algorithm	NOUN
fcis-14570	3	96	.	.	PUNCT
fcis-14570	4	1	first	first	ADV
fcis-14570	4	2	,	,	PUNCT
fcis-14570	4	3	the	the	DET
fcis-14570	4	4	evaluation	evaluation	NOUN
fcis-14570	4	5	function	function	NOUN
fcis-14570	4	6	of	of	ADP
fcis-14570	4	7	the	the	DET
fcis-14570	4	8	traditional	traditional	ADJ
fcis-14570	4	9	a	a	PRON
fcis-14570	4	10	*	*	ADJ
fcis-14570	4	11	algorithm	algorithm	NOUN
fcis-14570	4	12	and	and	CCONJ
fcis-14570	4	13	the	the	DET
fcis-14570	4	14	expansion	expansion	NOUN
fcis-14570	4	15	strategy	strategy	NOUN
fcis-14570	4	16	of	of	ADP
fcis-14570	4	17	sub	sub	NOUN
fcis-14570	4	18	-	-	NOUN
fcis-14570	4	19	nodes	node	NOUN
fcis-14570	4	20	are	be	AUX
fcis-14570	4	21	improved	improve	VERB
fcis-14570	4	22	to	to	PART
fcis-14570	4	23	improve	improve	VERB
fcis-14570	4	24	the	the	DET
fcis-14570	4	25	safety	safety	NOUN
fcis-14570	4	26	and	and	CCONJ
fcis-14570	4	27	search	search	NOUN
fcis-14570	4	28	efficiency	efficiency	NOUN
fcis-14570	4	29	of	of	ADP
fcis-14570	4	30	the	the	DET
fcis-14570	4	31	global	global	ADJ
fcis-14570	4	32	path	path	NOUN
fcis-14570	4	33	.	.	PUNCT
fcis-14570	5	1	then	then	ADV
fcis-14570	5	2	the	the	DET
fcis-14570	5	3	redundant	redundant	ADJ
fcis-14570	5	4	nodes	node	NOUN
fcis-14570	5	5	in	in	ADP
fcis-14570	5	6	the	the	DET
fcis-14570	5	7	global	global	ADJ
fcis-14570	5	8	path	path	NOUN
fcis-14570	5	9	are	be	AUX
fcis-14570	5	10	processed	process	VERB
fcis-14570	5	11	to	to	PART
fcis-14570	5	12	reduce	reduce	VERB
fcis-14570	5	13	the	the	DET
fcis-14570	5	14	number	number	NOUN
fcis-14570	5	15	of	of	ADP
fcis-14570	5	16	turning	turn	VERB
fcis-14570	5	17	points	point	NOUN
fcis-14570	5	18	and	and	CCONJ
fcis-14570	5	19	improve	improve	VERB
fcis-14570	5	20	the	the	DET
fcis-14570	5	21	smoothness	smoothness	NOUN
fcis-14570	5	22	of	of	ADP
fcis-14570	5	23	the	the	DET
fcis-14570	5	24	global	global	ADJ
fcis-14570	5	25	path	path	NOUN
fcis-14570	5	26	.	.	PUNCT
fcis-14570	6	1	to	to	PART
fcis-14570	6	2	improve	improve	VERB
fcis-14570	6	3	the	the	DET
fcis-14570	6	4	instability	instability	NOUN
fcis-14570	6	5	and	and	CCONJ
fcis-14570	6	6	energy	energy	NOUN
fcis-14570	6	7	consumption	consumption	NOUN
fcis-14570	6	8	of	of	ADP
fcis-14570	6	9	the	the	DET
fcis-14570	6	10	robot	robot	NOUN
fcis-14570	6	11	during	during	ADP
fcis-14570	6	12	travel	travel	NOUN
fcis-14570	6	13	;	;	PUNCT
fcis-14570	6	14	finally	finally	ADV
fcis-14570	6	15	,	,	PUNCT
fcis-14570	6	16	based	base	VERB
fcis-14570	6	17	on	on	ADP
fcis-14570	6	18	the	the	DET
fcis-14570	6	19	global	global	ADJ
fcis-14570	6	20	path	path	PROPN
fcis-14570	6	21	planning	planning	NOUN
fcis-14570	6	22	,	,	PUNCT
fcis-14570	6	23	the	the	DET
fcis-14570	6	24	dwa	dwa	PROPN
fcis-14570	6	25	algorithm	algorithm	NOUN
fcis-14570	6	26	is	be	AUX
fcis-14570	6	27	introduced	introduce	VERB
fcis-14570	6	28	to	to	PART
fcis-14570	6	29	perform	perform	VERB
fcis-14570	6	30	path	path	NOUN
fcis-14570	6	31	planning	planning	NOUN
fcis-14570	6	32	in	in	ADP
fcis-14570	6	33	the	the	DET
fcis-14570	6	34	local	local	ADJ
fcis-14570	6	35	unknown	unknown	ADJ
fcis-14570	6	36	environment	environment	NOUN
fcis-14570	6	37	.	.	PUNCT
fcis-14570	7	1	the	the	DET
fcis-14570	7	2	local	local	ADJ
fcis-14570	7	3	path	path	NOUN
fcis-14570	7	4	planning	planning	NOUN
fcis-14570	7	5	is	be	AUX
fcis-14570	7	6	completed	complete	VERB
fcis-14570	7	7	by	by	ADP
fcis-14570	7	8	retaining	retain	VERB
fcis-14570	7	9	the	the	DET
fcis-14570	7	10	key	key	ADJ
fcis-14570	7	11	path	path	NOUN
fcis-14570	7	12	turning	turning	NOUN
fcis-14570	7	13	points	point	NOUN
fcis-14570	7	14	as	as	ADP
fcis-14570	7	15	intermediate	intermediate	ADJ
fcis-14570	7	16	path	path	NOUN
fcis-14570	7	17	guidance	guidance	NOUN
fcis-14570	7	18	.	.	PUNCT
fcis-14570	8	1	real	real	ADJ
fcis-14570	8	2	-	-	PUNCT
fcis-14570	8	3	time	time	NOUN
fcis-14570	8	4	obstacle	obstacle	NOUN
fcis-14570	8	5	avoidance	avoidance	NOUN
fcis-14570	8	6	.	.	PUNCT
fcis-14570	9	1	through	through	ADP
fcis-14570	9	2	simulation	simulation	NOUN
fcis-14570	9	3	experiments	experiment	NOUN
fcis-14570	9	4	,	,	PUNCT
fcis-14570	9	5	the	the	DET
fcis-14570	9	6	effectiveness	effectiveness	NOUN
fcis-14570	9	7	and	and	CCONJ
fcis-14570	9	8	feasibility	feasibility	NOUN
fcis-14570	9	9	of	of	ADP
fcis-14570	9	10	the	the	DET
fcis-14570	9	11	fusion	fusion	NOUN
fcis-14570	9	12	algorithm	algorithm	NOUN
fcis-14570	9	13	are	be	AUX
fcis-14570	9	14	verified	verify	VERB
fcis-14570	9	15	.	.	PUNCT
fcis-14570	10	1	keywords	keyword	NOUN
fcis-14570	10	2	:	:	PUNCT
fcis-14570	10	3	path	path	NOUN
fcis-14570	10	4	planning	planning	NOUN
fcis-14570	10	5	;	;	PUNCT
fcis-14570	10	6	a	a	DET
fcis-14570	10	7	*	*	X
fcis-14570	10	8	algorithm	algorithm	NOUN
fcis-14570	10	9	;	;	PUNCT
fcis-14570	10	10	dynamic	dynamic	ADJ
fcis-14570	10	11	window	window	NOUN
fcis-14570	10	12	approach	approach	NOUN
fcis-14570	10	13	;	;	PUNCT
fcis-14570	10	14	fusion	fusion	NOUN
fcis-14570	10	15	algorithm	algorithm	NOUN
fcis-14570	10	16	.	.	PUNCT
fcis-14570	11	1	1	1	X
fcis-14570	11	2	.	.	X
fcis-14570	11	3	introduction	introduction	NOUN
fcis-14570	11	4	with	with	ADP
fcis-14570	11	5	the	the	DET
fcis-14570	11	6	rapid	rapid	ADJ
fcis-14570	11	7	growth	growth	NOUN
fcis-14570	11	8	of	of	ADP
fcis-14570	11	9	artificial	artificial	ADJ
fcis-14570	11	10	intelligence	intelligence	NOUN
fcis-14570	11	11	and	and	CCONJ
fcis-14570	11	12	the	the	DET
fcis-14570	11	13	expansion	expansion	NOUN
fcis-14570	11	14	of	of	ADP
fcis-14570	11	15	the	the	DET
fcis-14570	11	16	robot	robot	NOUN
fcis-14570	11	17	industry	industry	NOUN
fcis-14570	11	18	,	,	PUNCT
fcis-14570	11	19	robots	robot	NOUN
fcis-14570	11	20	are	be	AUX
fcis-14570	11	21	widely	widely	ADV
fcis-14570	11	22	utilized	utilize	VERB
fcis-14570	11	23	in	in	ADP
fcis-14570	11	24	manufacturing	manufacturing	NOUN
fcis-14570	11	25	,	,	PUNCT
fcis-14570	11	26	medical	medical	ADJ
fcis-14570	11	27	,	,	PUNCT
fcis-14570	11	28	logistics	logistic	NOUN
fcis-14570	11	29	,	,	PUNCT
fcis-14570	11	30	and	and	CCONJ
fcis-14570	11	31	various	various	ADJ
fcis-14570	11	32	other	other	ADJ
fcis-14570	11	33	fields[1	fields[1	PROPN
fcis-14570	11	34	]	]	PUNCT
fcis-14570	11	35	.	.	PUNCT
fcis-14570	12	1	path	path	NOUN
fcis-14570	12	2	planning	planning	NOUN
fcis-14570	12	3	is	be	AUX
fcis-14570	12	4	a	a	DET
fcis-14570	12	5	crucial	crucial	ADJ
fcis-14570	12	6	prerequisite	prerequisite	NOUN
fcis-14570	12	7	for	for	SCONJ
fcis-14570	12	8	robots	robot	NOUN
fcis-14570	12	9	to	to	PART
fcis-14570	12	10	execute	execute	VERB
fcis-14570	12	11	tasks[2	tasks[2	ADV
fcis-14570	12	12	]	]	PUNCT
fcis-14570	12	13	,	,	PUNCT
fcis-14570	12	14	and	and	CCONJ
fcis-14570	12	15	its	its	PRON
fcis-14570	12	16	measurement	measurement	NOUN
fcis-14570	12	17	index	index	NOUN
fcis-14570	12	18	is	be	AUX
fcis-14570	12	19	based	base	VERB
fcis-14570	12	20	on	on	ADP
fcis-14570	12	21	the	the	DET
fcis-14570	12	22	evaluation	evaluation	NOUN
fcis-14570	12	23	standard	standard	NOUN
fcis-14570	12	24	between	between	ADP
fcis-14570	12	25	the	the	DET
fcis-14570	12	26	starting	starting	NOUN
fcis-14570	12	27	point	point	NOUN
fcis-14570	12	28	and	and	CCONJ
fcis-14570	12	29	the	the	DET
fcis-14570	12	30	target	target	NOUN
fcis-14570	12	31	point	point	NOUN
fcis-14570	12	32	to	to	PART
fcis-14570	12	33	plan	plan	VERB
fcis-14570	12	34	an	an	DET
fcis-14570	12	35	optimal	optimal	ADJ
fcis-14570	12	36	and	and	CCONJ
fcis-14570	12	37	collision	collision	NOUN
fcis-14570	12	38	-	-	PUNCT
fcis-14570	12	39	free	free	ADJ
fcis-14570	12	40	path	path	NOUN
fcis-14570	12	41	in	in	ADP
fcis-14570	12	42	the	the	DET
fcis-14570	12	43	shortest	short	ADJ
fcis-14570	12	44	time[3	time[3	NUM
fcis-14570	12	45	]	]	PUNCT
fcis-14570	12	46	.	.	PUNCT
fcis-14570	13	1	current	current	ADJ
fcis-14570	13	2	path	path	NOUN
fcis-14570	13	3	planning	planning	NOUN
fcis-14570	13	4	algorithms	algorithm	NOUN
fcis-14570	13	5	can	can	AUX
fcis-14570	13	6	be	be	AUX
fcis-14570	13	7	categorized	categorize	VERB
fcis-14570	13	8	into	into	ADP
fcis-14570	13	9	global	global	ADJ
fcis-14570	13	10	static	static	ADJ
fcis-14570	13	11	path	path	NOUN
fcis-14570	13	12	planning	planning	NOUN
fcis-14570	13	13	with	with	ADP
fcis-14570	13	14	a	a	DET
fcis-14570	13	15	known	know	VERB
fcis-14570	13	16	environment	environment	NOUN
fcis-14570	13	17	and	and	CCONJ
fcis-14570	13	18	local	local	ADJ
fcis-14570	13	19	path	path	NOUN
fcis-14570	13	20	planning	planning	NOUN
fcis-14570	13	21	with	with	ADP
fcis-14570	13	22	unknown	unknown	ADJ
fcis-14570	13	23	environment	environment	NOUN
fcis-14570	13	24	information	information	NOUN
fcis-14570	13	25	.	.	PUNCT
fcis-14570	14	1	commonly	commonly	ADV
fcis-14570	14	2	used	use	VERB
fcis-14570	14	3	algorithms	algorithm	NOUN
fcis-14570	14	4	in	in	ADP
fcis-14570	14	5	global	global	ADJ
fcis-14570	14	6	path	path	NOUN
fcis-14570	14	7	planning	planning	NOUN
fcis-14570	14	8	include	include	VERB
fcis-14570	14	9	the	the	DET
fcis-14570	14	10	a	a	PROPN
fcis-14570	14	11	*	*	ADJ
fcis-14570	14	12	algorithm	algorithm	NOUN
fcis-14570	14	13	[	[	X
fcis-14570	14	14	4	4	NUM
fcis-14570	14	15	]	]	PUNCT
fcis-14570	14	16	,	,	PUNCT
fcis-14570	14	17	artificial	artificial	ADJ
fcis-14570	14	18	intelligence	intelligence	NOUN
fcis-14570	14	19	algorithm	algorithm	NOUN
fcis-14570	15	1	[	[	X
fcis-14570	15	2	5	5	NUM
fcis-14570	15	3	]	]	PUNCT
fcis-14570	15	4	,	,	PUNCT
fcis-14570	15	5	dijkstra	dijkstra	ADJ
fcis-14570	15	6	algorithm	algorithm	NOUN
fcis-14570	15	7	[	[	X
fcis-14570	15	8	6	6	NUM
fcis-14570	15	9	]	]	PUNCT
fcis-14570	15	10	,	,	PUNCT
fcis-14570	15	11	etc	etc	X
fcis-14570	15	12	.	.	X
fcis-14570	15	13	planning	plan	VERB
fcis-14570	15	14	algorithms	algorithm	NOUN
fcis-14570	15	15	in	in	ADP
fcis-14570	15	16	local	local	ADJ
fcis-14570	15	17	path	path	NOUN
fcis-14570	15	18	planning	planning	NOUN
fcis-14570	15	19	include	include	VERB
fcis-14570	15	20	the	the	DET
fcis-14570	15	21	artificial	artificial	ADJ
fcis-14570	15	22	potential	potential	ADJ
fcis-14570	15	23	field	field	NOUN
fcis-14570	15	24	method	method	NOUN
fcis-14570	15	25	[	[	X
fcis-14570	15	26	7	7	NUM
fcis-14570	15	27	]	]	PUNCT
fcis-14570	15	28	,	,	PUNCT
fcis-14570	15	29	dynamic	dynamic	ADJ
fcis-14570	15	30	window	window	NOUN
fcis-14570	15	31	method	method	NOUN
fcis-14570	15	32	(	(	PUNCT
fcis-14570	15	33	dwa	dwa	PROPN
fcis-14570	15	34	)	)	PUNCT
fcis-14570	16	1	[	[	X
fcis-14570	16	2	8	8	NUM
fcis-14570	16	3	]	]	PUNCT
fcis-14570	16	4	,	,	PUNCT
fcis-14570	16	5	time	time	NOUN
fcis-14570	16	6	elastic	elastic	ADJ
fcis-14570	16	7	band	band	NOUN
fcis-14570	16	8	(	(	PUNCT
fcis-14570	16	9	teb	teb	NOUN
fcis-14570	16	10	)	)	PUNCT
fcis-14570	17	1	[	[	X
fcis-14570	17	2	9	9	NUM
fcis-14570	17	3	]	]	PUNCT
fcis-14570	17	4	,	,	PUNCT
fcis-14570	17	5	etc	etc	X
fcis-14570	17	6	.	.	X
fcis-14570	17	7	the	the	DET
fcis-14570	17	8	a	a	PROPN
fcis-14570	17	9	*	*	ADJ
fcis-14570	17	10	algorithm	algorithm	NOUN
fcis-14570	17	11	is	be	AUX
fcis-14570	17	12	widely	widely	ADV
fcis-14570	17	13	employed	employ	VERB
fcis-14570	17	14	in	in	ADP
fcis-14570	17	15	path	path	NOUN
fcis-14570	17	16	planning	planning	NOUN
fcis-14570	17	17	due	due	ADP
fcis-14570	17	18	to	to	ADP
fcis-14570	17	19	its	its	PRON
fcis-14570	17	20	high	high	ADJ
fcis-14570	17	21	search	search	NOUN
fcis-14570	17	22	efficiency	efficiency	NOUN
fcis-14570	17	23	and	and	CCONJ
fcis-14570	17	24	ease	ease	NOUN
fcis-14570	17	25	of	of	ADP
fcis-14570	17	26	implementation	implementation	NOUN
fcis-14570	17	27	.	.	PUNCT
fcis-14570	18	1	however	however	ADV
fcis-14570	18	2	,	,	PUNCT
fcis-14570	18	3	the	the	DET
fcis-14570	18	4	traditional	traditional	ADJ
fcis-14570	18	5	a	a	PRON
fcis-14570	18	6	*	*	ADJ
fcis-14570	18	7	algorithm	algorithm	NOUN
fcis-14570	18	8	has	have	VERB
fcis-14570	18	9	shortcomings	shortcoming	NOUN
fcis-14570	18	10	such	such	ADJ
fcis-14570	18	11	as	as	ADP
fcis-14570	18	12	many	many	ADJ
fcis-14570	18	13	vertices	vertex	NOUN
fcis-14570	18	14	,	,	PUNCT
fcis-14570	18	15	susceptibility	susceptibility	NOUN
fcis-14570	18	16	to	to	PART
fcis-14570	18	17	contact	contact	VERB
fcis-14570	18	18	with	with	ADP
fcis-14570	18	19	the	the	DET
fcis-14570	18	20	edges	edge	NOUN
fcis-14570	18	21	of	of	ADP
fcis-14570	18	22	obstacles	obstacle	NOUN
fcis-14570	18	23	,	,	PUNCT
fcis-14570	18	24	and	and	CCONJ
fcis-14570	18	25	uneven	uneven	ADJ
fcis-14570	18	26	paths	path	NOUN
fcis-14570	18	27	.	.	PUNCT
fcis-14570	19	1	despite	despite	SCONJ
fcis-14570	19	2	dwa	dwa	PROPN
fcis-14570	19	3	's	's	PART
fcis-14570	19	4	proficiency	proficiency	NOUN
fcis-14570	19	5	in	in	ADP
fcis-14570	19	6	avoiding	avoid	VERB
fcis-14570	19	7	obstacles	obstacle	NOUN
fcis-14570	19	8	in	in	ADP
fcis-14570	19	9	unknown	unknown	ADJ
fcis-14570	19	10	environments	environment	NOUN
fcis-14570	19	11	,	,	PUNCT
fcis-14570	19	12	it	it	PRON
fcis-14570	19	13	faces	face	VERB
fcis-14570	19	14	challenges	challenge	NOUN
fcis-14570	19	15	in	in	ADP
fcis-14570	19	16	complex	complex	ADJ
fcis-14570	19	17	environments	environment	NOUN
fcis-14570	19	18	since	since	SCONJ
fcis-14570	19	19	it	it	PRON
fcis-14570	19	20	is	be	AUX
fcis-14570	19	21	solely	solely	ADV
fcis-14570	19	22	guided	guide	VERB
fcis-14570	19	23	by	by	ADP
fcis-14570	19	24	the	the	DET
fcis-14570	19	25	final	final	ADJ
fcis-14570	19	26	goal	goal	NOUN
fcis-14570	19	27	,	,	PUNCT
fcis-14570	19	28	making	make	VERB
fcis-14570	19	29	it	it	PRON
fcis-14570	19	30	prone	prone	ADJ
fcis-14570	19	31	to	to	ADP
fcis-14570	19	32	local	local	ADJ
fcis-14570	19	33	optimality	optimality	NOUN
fcis-14570	19	34	and	and	CCONJ
fcis-14570	19	35	leading	lead	VERB
fcis-14570	19	36	to	to	ADP
fcis-14570	19	37	failures	failure	NOUN
fcis-14570	19	38	in	in	ADP
fcis-14570	19	39	local	local	ADJ
fcis-14570	19	40	path	path	NOUN
fcis-14570	19	41	planning	planning	NOUN
fcis-14570	19	42	.	.	PUNCT
fcis-14570	20	1	in	in	ADP
fcis-14570	20	2	response	response	NOUN
fcis-14570	20	3	to	to	ADP
fcis-14570	20	4	these	these	DET
fcis-14570	20	5	challenges	challenge	NOUN
fcis-14570	20	6	,	,	PUNCT
fcis-14570	20	7	this	this	DET
fcis-14570	20	8	paper	paper	NOUN
fcis-14570	20	9	proposes	propose	VERB
fcis-14570	20	10	a	a	DET
fcis-14570	20	11	path	path	NOUN
fcis-14570	20	12	planning	planning	NOUN
fcis-14570	20	13	algorithm	algorithm	NOUN
fcis-14570	20	14	that	that	PRON
fcis-14570	20	15	integrates	integrate	VERB
fcis-14570	20	16	the	the	DET
fcis-14570	20	17	improved	improved	ADJ
fcis-14570	20	18	a	a	PRON
fcis-14570	20	19	*	*	PUNCT
fcis-14570	20	20	with	with	ADP
fcis-14570	20	21	the	the	DET
fcis-14570	20	22	dwa	dwa	PROPN
fcis-14570	20	23	algorithm	algorithm	NOUN
fcis-14570	20	24	.	.	PUNCT
fcis-14570	21	1	it	it	PRON
fcis-14570	21	2	enhances	enhance	VERB
fcis-14570	21	3	and	and	CCONJ
fcis-14570	21	4	optimizes	optimize	VERB
fcis-14570	21	5	the	the	DET
fcis-14570	21	6	traditional	traditional	ADJ
fcis-14570	21	7	a	a	PRON
fcis-14570	21	8	*	*	ADJ
fcis-14570	21	9	algorithm	algorithm	NOUN
fcis-14570	21	10	,	,	PUNCT
fcis-14570	21	11	introducing	introduce	VERB
fcis-14570	21	12	environmental	environmental	ADJ
fcis-14570	21	13	factors	factor	NOUN
fcis-14570	21	14	to	to	PART
fcis-14570	21	15	refine	refine	VERB
fcis-14570	21	16	the	the	DET
fcis-14570	21	17	heuristic	heuristic	ADJ
fcis-14570	21	18	function	function	NOUN
fcis-14570	21	19	.	.	PUNCT
fcis-14570	22	1	this	this	PRON
fcis-14570	22	2	allows	allow	VERB
fcis-14570	22	3	decisions	decision	NOUN
fcis-14570	22	4	based	base	VERB
fcis-14570	22	5	on	on	ADP
fcis-14570	22	6	obstacle	obstacle	NOUN
fcis-14570	22	7	density	density	NOUN
fcis-14570	22	8	,	,	PUNCT
fcis-14570	22	9	dynamic	dynamic	ADJ
fcis-14570	22	10	adjustment	adjustment	NOUN
fcis-14570	22	11	of	of	ADP
fcis-14570	22	12	the	the	DET
fcis-14570	22	13	degree	degree	NOUN
fcis-14570	22	14	,	,	PUNCT
fcis-14570	22	15	constrained	constrain	VERB
fcis-14570	22	16	selection	selection	NOUN
fcis-14570	22	17	of	of	ADP
fcis-14570	22	18	sub	sub	NOUN
fcis-14570	22	19	-	-	NOUN
fcis-14570	22	20	nodes	node	NOUN
fcis-14570	22	21	,	,	PUNCT
fcis-14570	22	22	avoidance	avoidance	NOUN
fcis-14570	22	23	of	of	ADP
fcis-14570	22	24	oblique	oblique	ADJ
fcis-14570	22	25	crossing	crossing	NOUN
fcis-14570	22	26	of	of	ADP
fcis-14570	22	27	obstacles	obstacle	NOUN
fcis-14570	22	28	,	,	PUNCT
fcis-14570	22	29	elimination	elimination	NOUN
fcis-14570	22	30	of	of	ADP
fcis-14570	22	31	redundant	redundant	ADJ
fcis-14570	22	32	points	point	NOUN
fcis-14570	22	33	,	,	PUNCT
fcis-14570	22	34	reduction	reduction	NOUN
fcis-14570	22	35	of	of	ADP
fcis-14570	22	36	path	path	NOUN
fcis-14570	22	37	turns	turn	NOUN
fcis-14570	22	38	,	,	PUNCT
fcis-14570	22	39	and	and	CCONJ
fcis-14570	22	40	introduction	introduction	NOUN
fcis-14570	22	41	of	of	ADP
fcis-14570	22	42	a	a	DET
fcis-14570	22	43	safety	safety	NOUN
fcis-14570	22	44	factor	factor	NOUN
fcis-14570	22	45	to	to	PART
fcis-14570	22	46	enhance	enhance	VERB
fcis-14570	22	47	the	the	DET
fcis-14570	22	48	path	path	NOUN
fcis-14570	22	49	safety	safety	NOUN
fcis-14570	22	50	distance	distance	NOUN
fcis-14570	22	51	.	.	PUNCT
fcis-14570	23	1	the	the	DET
fcis-14570	23	2	approach	approach	NOUN
fcis-14570	23	3	completes	complete	VERB
fcis-14570	23	4	global	global	ADJ
fcis-14570	23	5	path	path	NOUN
fcis-14570	23	6	planning	planning	NOUN
fcis-14570	23	7	and	and	CCONJ
fcis-14570	23	8	optimizes	optimize	VERB
fcis-14570	23	9	it	it	PRON
fcis-14570	23	10	.	.	PUNCT
fcis-14570	24	1	building	build	VERB
fcis-14570	24	2	upon	upon	SCONJ
fcis-14570	24	3	this	this	PRON
fcis-14570	24	4	,	,	PUNCT
fcis-14570	24	5	local	local	ADJ
fcis-14570	24	6	path	path	NOUN
fcis-14570	24	7	planning	planning	NOUN
fcis-14570	24	8	is	be	AUX
fcis-14570	24	9	conducted	conduct	VERB
fcis-14570	24	10	based	base	VERB
fcis-14570	24	11	on	on	ADP
fcis-14570	24	12	potential	potential	ADJ
fcis-14570	24	13	unknown	unknown	ADJ
fcis-14570	24	14	static	static	ADJ
fcis-14570	24	15	obstacles	obstacle	NOUN
fcis-14570	24	16	and	and	CCONJ
fcis-14570	24	17	dynamic	dynamic	ADJ
fcis-14570	24	18	obstacles	obstacle	NOUN
fcis-14570	24	19	.	.	PUNCT
fcis-14570	25	1	key	key	ADJ
fcis-14570	25	2	nodes	node	NOUN
fcis-14570	25	3	in	in	ADP
fcis-14570	25	4	global	global	ADJ
fcis-14570	25	5	path	path	NOUN
fcis-14570	25	6	planning	planning	NOUN
fcis-14570	25	7	are	be	AUX
fcis-14570	25	8	chosen	choose	VERB
fcis-14570	25	9	as	as	ADP
fcis-14570	25	10	a	a	DET
fcis-14570	25	11	guide	guide	NOUN
fcis-14570	25	12	for	for	ADP
fcis-14570	25	13	the	the	DET
fcis-14570	25	14	local	local	ADJ
fcis-14570	25	15	path	path	NOUN
fcis-14570	25	16	,	,	PUNCT
fcis-14570	25	17	and	and	CCONJ
fcis-14570	25	18	an	an	DET
fcis-14570	25	19	evaluation	evaluation	NOUN
fcis-14570	25	20	function	function	NOUN
fcis-14570	25	21	with	with	ADP
fcis-14570	25	22	global	global	ADJ
fcis-14570	25	23	information	information	NOUN
fcis-14570	25	24	is	be	AUX
fcis-14570	25	25	constructed	construct	VERB
fcis-14570	25	26	to	to	PART
fcis-14570	25	27	achieve	achieve	VERB
fcis-14570	25	28	the	the	DET
fcis-14570	25	29	fusion	fusion	NOUN
fcis-14570	25	30	of	of	ADP
fcis-14570	25	31	the	the	DET
fcis-14570	25	32	two	two	NUM
fcis-14570	25	33	algorithms	algorithm	NOUN
fcis-14570	25	34	.	.	PUNCT
fcis-14570	26	1	this	this	DET
fcis-14570	26	2	results	result	VERB
fcis-14570	26	3	in	in	ADP
fcis-14570	26	4	an	an	DET
fcis-14570	26	5	enhancement	enhancement	NOUN
fcis-14570	26	6	of	of	ADP
fcis-14570	26	7	the	the	DET
fcis-14570	26	8	completeness	completeness	NOUN
fcis-14570	26	9	,	,	PUNCT
fcis-14570	26	10	security	security	NOUN
fcis-14570	26	11	,	,	PUNCT
fcis-14570	26	12	and	and	CCONJ
fcis-14570	26	13	real	real	ADJ
fcis-14570	26	14	-	-	PUNCT
fcis-14570	26	15	time	time	NOUN
fcis-14570	26	16	nature	nature	NOUN
fcis-14570	26	17	of	of	ADP
fcis-14570	26	18	the	the	DET
fcis-14570	26	19	path	path	NOUN
fcis-14570	26	20	.	.	PUNCT
fcis-14570	27	1	2	2	X
fcis-14570	27	2	.	.	X
fcis-14570	27	3	establishment	establishment	NOUN
fcis-14570	27	4	of	of	ADP
fcis-14570	27	5	environmental	environmental	ADJ
fcis-14570	27	6	model	model	NOUN
fcis-14570	27	7	the	the	DET
fcis-14570	27	8	prerequisite	prerequisite	NOUN
fcis-14570	27	9	for	for	ADP
fcis-14570	27	10	robot	robot	NOUN
fcis-14570	27	11	path	path	NOUN
fcis-14570	27	12	planning	planning	NOUN
fcis-14570	27	13	is	be	AUX
fcis-14570	27	14	to	to	PART
fcis-14570	27	15	select	select	VERB
fcis-14570	27	16	an	an	DET
fcis-14570	27	17	appropriate	appropriate	ADJ
fcis-14570	27	18	environment	environment	NOUN
fcis-14570	27	19	model	model	NOUN
fcis-14570	27	20	.	.	PUNCT
fcis-14570	28	1	currently	currently	ADV
fcis-14570	28	2	,	,	PUNCT
fcis-14570	28	3	commonly	commonly	ADV
fcis-14570	28	4	used	use	VERB
fcis-14570	28	5	modeling	modeling	NOUN
fcis-14570	28	6	methods	method	NOUN
fcis-14570	28	7	include	include	VERB
fcis-14570	28	8	grid	grid	NOUN
fcis-14570	28	9	method	method	NOUN
fcis-14570	28	10	,	,	PUNCT
fcis-14570	28	11	topology	topology	NOUN
fcis-14570	28	12	method	method	NOUN
fcis-14570	28	13	and	and	CCONJ
fcis-14570	28	14	geometric	geometric	ADJ
fcis-14570	28	15	method	method	NOUN
fcis-14570	28	16	,	,	PUNCT
fcis-14570	28	17	because	because	SCONJ
fcis-14570	28	18	the	the	DET
fcis-14570	28	19	grid	grid	NOUN
fcis-14570	28	20	method	method	NOUN
fcis-14570	28	21	has	have	VERB
fcis-14570	28	22	the	the	DET
fcis-14570	28	23	characteristics	characteristic	NOUN
fcis-14570	28	24	of	of	ADP
fcis-14570	28	25	easy	easy	ADJ
fcis-14570	28	26	implementation	implementation	NOUN
fcis-14570	28	27	,	,	PUNCT
fcis-14570	28	28	simple	simple	ADJ
fcis-14570	28	29	programming	programming	NOUN
fcis-14570	28	30	and	and	CCONJ
fcis-14570	28	31	consistency	consistency	NOUN
fcis-14570	28	32	in	in	ADP
fcis-14570	28	33	the	the	DET
fcis-14570	28	34	construction	construction	NOUN
fcis-14570	28	35	of	of	ADP
fcis-14570	28	36	environmental	environmental	ADJ
fcis-14570	28	37	models	model	NOUN
fcis-14570	28	38	.	.	PUNCT
fcis-14570	29	1	features	feature	NOUN
fcis-14570	29	2	.	.	PUNCT
fcis-14570	30	1	therefore	therefore	ADV
fcis-14570	30	2	,	,	PUNCT
fcis-14570	30	3	this	this	DET
fcis-14570	30	4	article	article	NOUN
fcis-14570	30	5	uses	use	VERB
fcis-14570	30	6	the	the	DET
fcis-14570	30	7	grid	grid	NOUN
fcis-14570	30	8	method	method	NOUN
fcis-14570	30	9	to	to	PART
fcis-14570	30	10	construct	construct	VERB
fcis-14570	30	11	an	an	DET
fcis-14570	30	12	environmental	environmental	ADJ
fcis-14570	30	13	model	model	NOUN
fcis-14570	30	14	.	.	PUNCT
fcis-14570	31	1	the	the	DET
fcis-14570	31	2	environmental	environmental	ADJ
fcis-14570	31	3	space	space	NOUN
fcis-14570	31	4	is	be	AUX
fcis-14570	31	5	divided	divide	VERB
fcis-14570	31	6	into	into	ADP
fcis-14570	31	7	grids	grid	NOUN
fcis-14570	31	8	of	of	ADP
fcis-14570	31	9	the	the	DET
fcis-14570	31	10	same	same	ADJ
fcis-14570	31	11	size	size	NOUN
fcis-14570	31	12	.	.	PUNCT
fcis-14570	32	1	according	accord	VERB
fcis-14570	32	2	to	to	ADP
fcis-14570	32	3	the	the	DET
fcis-14570	32	4	environmental	environmental	ADJ
fcis-14570	32	5	information	information	NOUN
fcis-14570	32	6	,	,	PUNCT
fcis-14570	32	7	each	each	DET
fcis-14570	32	8	grid	grid	NOUN
fcis-14570	32	9	is	be	AUX
fcis-14570	32	10	represented	represent	VERB
fcis-14570	32	11	by	by	ADP
fcis-14570	32	12	blank	blank	PROPN
fcis-14570	32	13	(	(	PUNCT
fcis-14570	32	14	representing	represent	VERB
fcis-14570	32	15	the	the	DET
fcis-14570	32	16	drivable	drivable	ADJ
fcis-14570	32	17	area	area	NOUN
fcis-14570	32	18	)	)	PUNCT
fcis-14570	32	19	and	and	CCONJ
fcis-14570	32	20	black	black	ADJ
fcis-14570	32	21	(	(	PUNCT
fcis-14570	32	22	representing	represent	VERB
fcis-14570	32	23	the	the	DET
fcis-14570	32	24	obstacle	obstacle	NOUN
fcis-14570	32	25	area	area	NOUN
fcis-14570	32	26	)	)	PUNCT
fcis-14570	32	27	.	.	PUNCT
fcis-14570	33	1	the	the	DET
fcis-14570	33	2	grid	grid	NOUN
fcis-14570	33	3	map	map	NOUN
fcis-14570	33	4	is	be	AUX
fcis-14570	33	5	shown	show	VERB
fcis-14570	33	6	in	in	ADP
fcis-14570	33	7	figure	figure	NOUN
fcis-14570	33	8	1	1	NUM
fcis-14570	33	9	.	.	PUNCT
fcis-14570	34	1	figure	figure	NOUN
fcis-14570	34	2	1	1	NUM
fcis-14570	34	3	.	.	PUNCT
fcis-14570	34	4	grid	grid	NOUN
fcis-14570	34	5	map	map	NOUN
fcis-14570	34	6	3	3	NUM
fcis-14570	34	7	.	.	PUNCT
fcis-14570	35	1	a	a	DET
fcis-14570	35	2	*	*	PUNCT
fcis-14570	35	3	algorithm	algorithm	PROPN
fcis-14570	35	4	improvements	improvement	NOUN
fcis-14570	35	5	3.1	3.1	NUM
fcis-14570	35	6	.	.	PUNCT
fcis-14570	36	1	traditional	traditional	ADJ
fcis-14570	36	2	a	a	DET
fcis-14570	36	3	*	*	ADJ
fcis-14570	36	4	algorithm	algorithm	NOUN
fcis-14570	36	5	the	the	DET
fcis-14570	36	6	a	a	PROPN
fcis-14570	36	7	*	*	ADJ
fcis-14570	36	8	algorithm	algorithm	NOUN
fcis-14570	36	9	is	be	AUX
fcis-14570	36	10	a	a	DET
fcis-14570	36	11	classic	classic	ADJ
fcis-14570	36	12	heuristic	heuristic	ADJ
fcis-14570	36	13	search	search	NOUN
fcis-14570	36	14	algorithm	algorithm	NOUN
fcis-14570	36	15	that	that	PRON
fcis-14570	36	16	combines	combine	VERB
fcis-14570	36	17	dijkstra	dijkstra	ADJ
fcis-14570	36	18	and	and	CCONJ
fcis-14570	36	19	breadth	breadth	NOUN
fcis-14570	36	20	-	-	PUNCT
fcis-14570	36	21	first	first	ADJ
fcis-14570	36	22	traversal	traversal	NOUN
fcis-14570	36	23	algorithms	algorithm	NOUN
fcis-14570	36	24	.	.	PUNCT
fcis-14570	37	1	it	it	PRON
fcis-14570	37	2	searches	search	VERB
fcis-14570	37	3	for	for	ADP
fcis-14570	37	4	nodes	node	NOUN
fcis-14570	37	5	from	from	ADP
fcis-14570	37	6	the	the	DET
fcis-14570	37	7	starting	starting	NOUN
fcis-14570	37	8	point	point	NOUN
fcis-14570	37	9	,	,	PUNCT
fcis-14570	37	10	selects	select	VERB
fcis-14570	37	11	a	a	DET
fcis-14570	37	12	node	node	NOUN
fcis-14570	37	13	with	with	ADP
fcis-14570	37	14	the	the	DET
fcis-14570	37	15	smallest	small	ADJ
fcis-14570	37	16	evaluation	evaluation	NOUN
fcis-14570	37	17	function	function	NOUN
fcis-14570	37	18	value	value	NOUN
fcis-14570	37	19	as	as	ADP
fcis-14570	37	20	the	the	DET
fcis-14570	37	21	starting	starting	NOUN
fcis-14570	37	22	point	point	NOUN
fcis-14570	37	23	of	of	ADP
fcis-14570	37	24	the	the	DET
fcis-14570	37	25	next	next	ADJ
fcis-14570	37	26	search	search	NOUN
fcis-14570	37	27	node	node	NOUN
fcis-14570	37	28	,	,	PUNCT
fcis-14570	37	29	and	and	CCONJ
fcis-14570	37	30	continues	continue	VERB
fcis-14570	37	31	to	to	PART
fcis-14570	37	32	move	move	VERB
fcis-14570	37	33	toward	toward	ADP
fcis-14570	37	34	38	38	NUM
fcis-14570	37	35	the	the	DET
fcis-14570	37	36	target	target	NOUN
fcis-14570	37	37	point	point	NOUN
fcis-14570	37	38	.	.	PUNCT
fcis-14570	38	1	finally	finally	ADV
fcis-14570	38	2	,	,	PUNCT
fcis-14570	38	3	the	the	DET
fcis-14570	38	4	shortest	short	ADJ
fcis-14570	38	5	distance	distance	NOUN
fcis-14570	38	6	is	be	AUX
fcis-14570	38	7	found	find	VERB
fcis-14570	38	8	from	from	ADP
fcis-14570	38	9	the	the	DET
fcis-14570	38	10	starting	starting	NOUN
fcis-14570	38	11	point	point	NOUN
fcis-14570	38	12	to	to	ADP
fcis-14570	38	13	the	the	DET
fcis-14570	38	14	target	target	NOUN
fcis-14570	38	15	point	point	NOUN
fcis-14570	38	16	in	in	ADP
fcis-14570	38	17	the	the	DET
fcis-14570	38	18	global	global	ADJ
fcis-14570	38	19	path	path	NOUN
fcis-14570	38	20	.	.	PUNCT
fcis-14570	39	1	its	its	PRON
fcis-14570	39	2	core	core	NOUN
fcis-14570	39	3	functions	function	NOUN
fcis-14570	39	4	are	be	AUX
fcis-14570	39	5	:	:	PUNCT
fcis-14570	39	6	(	(	PUNCT
fcis-14570	39	7	)	)	PUNCT
fcis-14570	39	8	(	(	PUNCT
fcis-14570	39	9	)	)	PUNCT
fcis-14570	39	10	(	(	PUNCT
fcis-14570	39	11	)	)	PUNCT
fcis-14570	39	12	f	f	PROPN
fcis-14570	39	13	n	n	CCONJ
fcis-14570	39	14	g	g	PROPN
fcis-14570	39	15	n	n	CCONJ
fcis-14570	39	16	h	h	NOUN
fcis-14570	39	17	n	n	NOUN
fcis-14570	39	18			X
fcis-14570	39	19	(	(	PUNCT
fcis-14570	39	20	1	1	X
fcis-14570	39	21	)	)	PUNCT
fcis-14570	39	22	in	in	ADP
fcis-14570	39	23	the	the	DET
fcis-14570	39	24	formula	formula	NOUN
fcis-14570	39	25	,	,	PUNCT
fcis-14570	39	26	n	n	PRON
fcis-14570	39	27	represents	represent	VERB
fcis-14570	39	28	the	the	DET
fcis-14570	39	29	current	current	ADJ
fcis-14570	39	30	node	node	NOUN
fcis-14570	39	31	,	,	PUNCT
fcis-14570	39	32	represents	represent	VERB
fcis-14570	39	33	the	the	DET
fcis-14570	39	34	total	total	ADJ
fcis-14570	39	35	cost	cost	NOUN
fcis-14570	39	36	value	value	NOUN
fcis-14570	39	37	from	from	ADP
fcis-14570	39	38	the	the	DET
fcis-14570	39	39	starting	starting	NOUN
fcis-14570	39	40	point	point	NOUN
fcis-14570	39	41	to	to	ADP
fcis-14570	39	42	the	the	DET
fcis-14570	39	43	target	target	NOUN
fcis-14570	39	44	point	point	NOUN
fcis-14570	39	45	,	,	PUNCT
fcis-14570	39	46	represents	represent	VERB
fcis-14570	39	47	the	the	DET
fcis-14570	39	48	actual	actual	ADJ
fcis-14570	39	49	cost	cost	NOUN
fcis-14570	39	50	value	value	NOUN
fcis-14570	39	51	from	from	ADP
fcis-14570	39	52	the	the	DET
fcis-14570	39	53	starting	starting	NOUN
fcis-14570	39	54	point	point	NOUN
fcis-14570	39	55	to	to	ADP
fcis-14570	39	56	the	the	DET
fcis-14570	39	57	current	current	ADJ
fcis-14570	39	58	node	node	NOUN
fcis-14570	39	59	,	,	PUNCT
fcis-14570	39	60	represents	represent	VERB
fcis-14570	39	61	the	the	DET
fcis-14570	39	62	estimated	estimate	VERB
fcis-14570	39	63	cost	cost	NOUN
fcis-14570	39	64	value	value	NOUN
fcis-14570	39	65	from	from	ADP
fcis-14570	39	66	node	node	PROPN
fcis-14570	39	67	n	n	CCONJ
fcis-14570	39	68	to	to	ADP
fcis-14570	39	69	the	the	DET
fcis-14570	39	70	target	target	NOUN
fcis-14570	39	71	point	point	NOUN
fcis-14570	39	72	.	.	PUNCT
fcis-14570	40	1	among	among	ADP
fcis-14570	40	2	them	they	PRON
fcis-14570	40	3	,	,	PUNCT
fcis-14570	40	4	manhattan	manhattan	PROPN
fcis-14570	40	5	distance	distance	NOUN
fcis-14570	40	6	,	,	PUNCT
fcis-14570	40	7	euclidean	euclidean	ADJ
fcis-14570	40	8	distance	distance	NOUN
fcis-14570	40	9	and	and	CCONJ
fcis-14570	40	10	chebyshev	chebyshev	PROPN
fcis-14570	40	11	distance	distance	NOUN
fcis-14570	40	12	are	be	AUX
fcis-14570	40	13	commonly	commonly	ADV
fcis-14570	40	14	used	use	VERB
fcis-14570	40	15	as	as	ADP
fcis-14570	40	16	heuristic	heuristic	ADJ
fcis-14570	40	17	function	function	NOUN
fcis-14570	40	18	.	.	PUNCT
fcis-14570	41	1	this	this	DET
fcis-14570	41	2	paper	paper	NOUN
fcis-14570	41	3	selects	select	NOUN
fcis-14570	41	4	euclidean	euclidean	ADJ
fcis-14570	41	5	distance	distance	NOUN
fcis-14570	41	6	as	as	ADP
fcis-14570	41	7	the	the	DET
fcis-14570	41	8	heuristic	heuristic	ADJ
fcis-14570	41	9	function	function	NOUN
fcis-14570	41	10	of	of	ADP
fcis-14570	41	11	,	,	PUNCT
fcis-14570	41	12	and	and	CCONJ
fcis-14570	41	13	its	its	PRON
fcis-14570	41	14	expression	expression	NOUN
fcis-14570	41	15	is	be	AUX
fcis-14570	41	16	:	:	PUNCT
fcis-14570	41	17	2	2	NUM
fcis-14570	41	18	2	2	NUM
fcis-14570	41	19	(	(	PUNCT
fcis-14570	41	20	)	)	PUNCT
fcis-14570	41	21	(	(	PUNCT
fcis-14570	41	22	)	)	PUNCT
fcis-14570	41	23	(	(	PUNCT
fcis-14570	41	24	)	)	PUNCT
fcis-14570	41	25	x	x	X
fcis-14570	41	26	x	x	PUNCT
fcis-14570	41	27	y	y	VERB
fcis-14570	41	28	yh	yh	PROPN
fcis-14570	42	1	n	n	CCONJ
fcis-14570	43	1	g	g	PROPN
fcis-14570	43	2	s	s	PROPN
fcis-14570	43	3	g	g	NOUN
fcis-14570	43	4	s	s	ADP
fcis-14570	43	5			PROPN
fcis-14570	43	6			VERB
fcis-14570	43	7			NOUN
fcis-14570	43	8	(	(	PUNCT
fcis-14570	43	9	2	2	NUM
fcis-14570	43	10	)	)	PUNCT
fcis-14570	43	11	among	among	ADP
fcis-14570	43	12	them	they	PRON
fcis-14570	43	13	,	,	PUNCT
fcis-14570	43	14	(	(	PUNCT
fcis-14570	43	15	,	,	PUNCT
fcis-14570	43	16	)	)	PUNCT
fcis-14570	43	17	n	n	CCONJ
fcis-14570	43	18	nx	nx	NOUN
fcis-14570	43	19	x	x	SYM
fcis-14570	43	20	,	,	PUNCT
fcis-14570	43	21	(	(	PUNCT
fcis-14570	43	22	,	,	PUNCT
fcis-14570	43	23	)	)	PUNCT
fcis-14570	43	24	x	x	SYM
fcis-14570	43	25	yg	yg	PROPN
fcis-14570	43	26	g	g	PROPN
fcis-14570	43	27	is	be	AUX
fcis-14570	43	28	the	the	DET
fcis-14570	43	29	current	current	ADJ
fcis-14570	43	30	node	node	NOUN
fcis-14570	43	31	coordinates	coordinate	NOUN
fcis-14570	43	32	and	and	CCONJ
fcis-14570	43	33	target	target	NOUN
fcis-14570	43	34	point	point	NOUN
fcis-14570	43	35	coordinates	coordinate	NOUN
fcis-14570	43	36	.	.	PUNCT
fcis-14570	44	1	3.2	3.2	NUM
fcis-14570	44	2	.	.	PUNCT
fcis-14570	45	1	heuristic	heuristic	ADJ
fcis-14570	45	2	function	function	NOUN
fcis-14570	45	3	improvement	improvement	NOUN
fcis-14570	45	4	in	in	ADP
fcis-14570	45	5	the	the	DET
fcis-14570	45	6	traditional	traditional	ADJ
fcis-14570	45	7	a	a	PRON
fcis-14570	45	8	*	*	ADJ
fcis-14570	45	9	algorithm	algorithm	NOUN
fcis-14570	45	10	,	,	PUNCT
fcis-14570	45	11	since	since	SCONJ
fcis-14570	45	12	h(n	h(n	PROPN
fcis-14570	45	13	)	)	PUNCT
fcis-14570	45	14	plays	play	VERB
fcis-14570	45	15	a	a	DET
fcis-14570	45	16	key	key	ADJ
fcis-14570	45	17	role	role	NOUN
fcis-14570	45	18	,	,	PUNCT
fcis-14570	45	19	in	in	ADP
fcis-14570	45	20	the	the	DET
fcis-14570	45	21	early	early	ADJ
fcis-14570	45	22	stage	stage	NOUN
fcis-14570	45	23	of	of	ADP
fcis-14570	45	24	path	path	NOUN
fcis-14570	45	25	search	search	NOUN
fcis-14570	45	26	,	,	PUNCT
fcis-14570	45	27	appropriately	appropriately	ADV
fcis-14570	45	28	adjusting	adjust	VERB
fcis-14570	45	29	the	the	DET
fcis-14570	45	30	weight	weight	NOUN
fcis-14570	45	31	of	of	ADP
fcis-14570	45	32	h(n	h(n	PROPN
fcis-14570	45	33	)	)	PUNCT
fcis-14570	45	34	will	will	AUX
fcis-14570	45	35	help	help	VERB
fcis-14570	45	36	reduce	reduce	VERB
fcis-14570	45	37	the	the	DET
fcis-14570	45	38	waste	waste	NOUN
fcis-14570	45	39	of	of	ADP
fcis-14570	45	40	search	search	NOUN
fcis-14570	45	41	resources	resource	NOUN
fcis-14570	45	42	and	and	CCONJ
fcis-14570	45	43	achieve	achieve	VERB
fcis-14570	45	44	path	path	NOUN
fcis-14570	45	45	optimization	optimization	NOUN
fcis-14570	45	46	.	.	PUNCT
fcis-14570	46	1	first	first	ADV
fcis-14570	46	2	,	,	PUNCT
fcis-14570	46	3	the	the	DET
fcis-14570	46	4	obstacle	obstacle	NOUN
fcis-14570	46	5	rate	rate	NOUN
fcis-14570	46	6	k	k	PROPN
fcis-14570	46	7	is	be	AUX
fcis-14570	46	8	expressed	express	VERB
fcis-14570	46	9	according	accord	VERB
fcis-14570	46	10	to	to	ADP
fcis-14570	46	11	the	the	DET
fcis-14570	46	12	number	number	NOUN
fcis-14570	46	13	of	of	ADP
fcis-14570	46	14	obstacles	obstacle	NOUN
fcis-14570	46	15	in	in	ADP
fcis-14570	46	16	the	the	DET
fcis-14570	46	17	grid	grid	NOUN
fcis-14570	46	18	map	map	NOUN
fcis-14570	46	19	environment	environment	NOUN
fcis-14570	46	20	:	:	PUNCT
fcis-14570	46	21	1	1	NUM
fcis-14570	46	22	1	1	NUM
fcis-14570	46	23	(	(	PUNCT
fcis-14570	46	24	)	)	PUNCT
fcis-14570	46	25	(	(	PUNCT
fcis-14570	46	26	)	)	PUNCT
fcis-14570	46	27	bs	bs	NOUN
fcis-14570	46	28	x	x	PUNCT
fcis-14570	46	29	x	x	PUNCT
fcis-14570	47	1	y	y	NOUN
fcis-14570	47	2	y	y	NOUN
fcis-14570	47	3	o	o	X
fcis-14570	48	1	k	k	X
fcis-14570	48	2	g	g	PROPN
fcis-14570	48	3	s	s	PROPN
fcis-14570	48	4	g	g	PROPN
fcis-14570	48	5	s	s	PROPN
fcis-14570	48	6			PART
fcis-14570	48	7			PROPN
fcis-14570	48	8			PROPN
fcis-14570	48	9			VERB
fcis-14570	48	10			NOUN
fcis-14570	48	11	(	(	PUNCT
fcis-14570	48	12	3	3	NUM
fcis-14570	48	13	)	)	PUNCT
fcis-14570	48	14	in	in	ADP
fcis-14570	48	15	the	the	DET
fcis-14570	48	16	formula	formula	NOUN
fcis-14570	48	17	,	,	PUNCT
fcis-14570	48	18	a	a	PRON
fcis-14570	48	19	is	be	AUX
fcis-14570	48	20	the	the	DET
fcis-14570	48	21	number	number	NOUN
fcis-14570	48	22	of	of	ADP
fcis-14570	48	23	obstacles	obstacle	NOUN
fcis-14570	48	24	from	from	ADP
fcis-14570	48	25	the	the	DET
fcis-14570	48	26	starting	starting	NOUN
fcis-14570	48	27	point	point	NOUN
fcis-14570	48	28	to	to	ADP
fcis-14570	48	29	the	the	DET
fcis-14570	48	30	target	target	NOUN
fcis-14570	48	31	point	point	NOUN
fcis-14570	48	32	,	,	PUNCT
fcis-14570	48	33	b	b	NOUN
fcis-14570	48	34	is	be	AUX
fcis-14570	48	35	the	the	DET
fcis-14570	48	36	coordinate	coordinate	NOUN
fcis-14570	48	37	of	of	ADP
fcis-14570	48	38	the	the	DET
fcis-14570	48	39	starting	starting	NOUN
fcis-14570	48	40	point	point	NOUN
fcis-14570	48	41	,	,	PUNCT
fcis-14570	48	42	and	and	CCONJ
fcis-14570	48	43	the	the	DET
fcis-14570	48	44	obstacle	obstacle	NOUN
fcis-14570	48	45	rate	rate	NOUN
fcis-14570	48	46	k	k	PROPN
fcis-14570	48	47	is	be	AUX
fcis-14570	48	48	introduced	introduce	VERB
fcis-14570	48	49	into	into	ADP
fcis-14570	48	50	the	the	DET
fcis-14570	48	51	core	core	NOUN
fcis-14570	48	52	function	function	NOUN
fcis-14570	48	53	,	,	PUNCT
fcis-14570	48	54	and	and	CCONJ
fcis-14570	48	55	its	its	PRON
fcis-14570	48	56	expression	expression	NOUN
fcis-14570	48	57	is	be	AUX
fcis-14570	48	58	:	:	PUNCT
fcis-14570	48	59	1	1	NUM
fcis-14570	48	60	1	1	NUM
fcis-14570	48	61	(	(	PUNCT
fcis-14570	48	62	)	)	PUNCT
fcis-14570	48	63	(	(	PUNCT
fcis-14570	48	64	)	)	PUNCT
fcis-14570	48	65	(	(	PUNCT
fcis-14570	48	66	1	1	X
fcis-14570	48	67	)	)	PUNCT
fcis-14570	48	68	(	(	PUNCT
fcis-14570	48	69	)	)	PUNCT
fcis-14570	48	70	1	1	NUM
fcis-14570	49	1	k	k	NOUN
fcis-14570	49	2	f	f	PROPN
fcis-14570	49	3	n	n	CCONJ
fcis-14570	49	4	g	g	PROPN
fcis-14570	49	5	n	n	CCONJ
fcis-14570	49	6	h	h	NOUN
fcis-14570	49	7	n	n	NOUN
fcis-14570	49	8	e	e	PROPN
fcis-14570	49	9			PROPN
fcis-14570	49	10			PROPN
fcis-14570	49	11			PUNCT
fcis-14570	49	12			X
fcis-14570	49	13	(	(	PUNCT
fcis-14570	49	14	4	4	X
fcis-14570	49	15	)	)	PUNCT
fcis-14570	49	16	dynamically	dynamically	ADV
fcis-14570	49	17	adjust	adjust	VERB
fcis-14570	49	18	according	accord	VERB
fcis-14570	49	19	to	to	ADP
fcis-14570	49	20	the	the	DET
fcis-14570	49	21	obstacle	obstacle	NOUN
fcis-14570	49	22	rate	rate	NOUN
fcis-14570	49	23	in	in	ADP
fcis-14570	49	24	the	the	DET
fcis-14570	49	25	map	map	NOUN
fcis-14570	49	26	environment	environment	NOUN
fcis-14570	49	27	to	to	PART
fcis-14570	49	28	balance	balance	VERB
fcis-14570	49	29	the	the	DET
fcis-14570	49	30	two	two	NUM
fcis-14570	49	31	functions	function	NOUN
fcis-14570	49	32	.	.	PUNCT
fcis-14570	50	1	3.3	3.3	NUM
fcis-14570	50	2	.	.	PUNCT
fcis-14570	51	1	optimize	optimize	VERB
fcis-14570	51	2	child	child	NOUN
fcis-14570	51	3	node	node	NOUN
fcis-14570	51	4	expansion	expansion	NOUN
fcis-14570	51	5	strategy	strategy	NOUN
fcis-14570	51	6	the	the	DET
fcis-14570	51	7	traditional	traditional	ADJ
fcis-14570	51	8	a	a	PRON
fcis-14570	51	9	*	*	ADJ
fcis-14570	51	10	algorithm	algorithm	NOUN
fcis-14570	51	11	uses	use	VERB
fcis-14570	51	12	8	8	NUM
fcis-14570	51	13	neighborhood	neighborhood	NOUN
fcis-14570	51	14	expansion	expansion	NOUN
fcis-14570	51	15	,	,	PUNCT
fcis-14570	51	16	as	as	SCONJ
fcis-14570	51	17	shown	show	VERB
fcis-14570	51	18	by	by	ADP
fcis-14570	51	19	the	the	DET
fcis-14570	51	20	blue	blue	ADJ
fcis-14570	51	21	arrow	arrow	NOUN
fcis-14570	51	22	in	in	ADP
fcis-14570	51	23	the	the	DET
fcis-14570	51	24	parent	parent	NOUN
fcis-14570	51	25	-	-	PUNCT
fcis-14570	51	26	child	child	NOUN
fcis-14570	51	27	node	node	ADJ
fcis-14570	51	28	diagram	diagram	NOUN
fcis-14570	51	29	in	in	ADP
fcis-14570	51	30	figure	figure	NOUN
fcis-14570	51	31	2	2	NUM
fcis-14570	51	32	:	:	PUNCT
fcis-14570	51	33	figure	figure	NOUN
fcis-14570	51	34	2	2	NUM
fcis-14570	51	35	.	.	PUNCT
fcis-14570	51	36	parent	parent	NOUN
fcis-14570	51	37	-	-	PUNCT
fcis-14570	51	38	child	child	NOUN
fcis-14570	51	39	node	node	NOUN
fcis-14570	51	40	graph	graph	NOUN
fcis-14570	51	41	figure	figure	NOUN
fcis-14570	51	42	3	3	NUM
fcis-14570	51	43	.	.	PUNCT
fcis-14570	51	44	child	child	NOUN
fcis-14570	51	45	node	node	NOUN
fcis-14570	51	46	expansion	expansion	NOUN
fcis-14570	51	47	path	path	NOUN
fcis-14570	51	48	according	accord	VERB
fcis-14570	51	49	to	to	ADP
fcis-14570	51	50	the	the	DET
fcis-14570	51	51	a	a	PROPN
fcis-14570	51	52	*	*	X
fcis-14570	51	53	algorithm	algorithm	NOUN
fcis-14570	51	54	's	's	PART
fcis-14570	51	55	rules	rule	NOUN
fcis-14570	51	56	for	for	ADP
fcis-14570	51	57	selecting	select	VERB
fcis-14570	51	58	child	child	NOUN
fcis-14570	51	59	nodes	node	NOUN
fcis-14570	51	60	,	,	PUNCT
fcis-14570	51	61	if	if	SCONJ
fcis-14570	51	62	the	the	DET
fcis-14570	51	63	child	child	NOUN
fcis-14570	51	64	node	node	NOUN
fcis-14570	51	65	is	be	AUX
fcis-14570	51	66	an	an	DET
fcis-14570	51	67	obstacle	obstacle	NOUN
fcis-14570	51	68	,	,	PUNCT
fcis-14570	51	69	it	it	PRON
fcis-14570	51	70	will	will	AUX
fcis-14570	51	71	cause	cause	VERB
fcis-14570	51	72	the	the	DET
fcis-14570	51	73	node	node	NOUN
fcis-14570	51	74	to	to	PART
fcis-14570	51	75	touch	touch	VERB
fcis-14570	51	76	the	the	DET
fcis-14570	51	77	edge	edge	NOUN
fcis-14570	51	78	of	of	ADP
fcis-14570	51	79	the	the	DET
fcis-14570	51	80	obstacle	obstacle	NOUN
fcis-14570	51	81	or	or	CCONJ
fcis-14570	51	82	even	even	ADV
fcis-14570	51	83	cross	cross	VERB
fcis-14570	51	84	the	the	DET
fcis-14570	51	85	two	two	NUM
fcis-14570	51	86	obstacle	obstacle	NOUN
fcis-14570	51	87	vertices	vertice	VERB
fcis-14570	51	88	diagonally	diagonally	ADV
fcis-14570	51	89	,	,	PUNCT
fcis-14570	51	90	as	as	SCONJ
fcis-14570	51	91	shown	show	VERB
fcis-14570	51	92	in	in	ADP
fcis-14570	51	93	l1	l1	PROPN
fcis-14570	51	94	and	and	CCONJ
fcis-14570	51	95	l2	l2	NOUN
fcis-14570	51	96	in	in	ADP
fcis-14570	51	97	figure	figure	NOUN
fcis-14570	51	98	3	3	NUM
fcis-14570	51	99	.	.	PUNCT
fcis-14570	52	1	in	in	ADP
fcis-14570	52	2	order	order	NOUN
fcis-14570	52	3	to	to	PART
fcis-14570	52	4	improve	improve	VERB
fcis-14570	52	5	the	the	DET
fcis-14570	52	6	safety	safety	NOUN
fcis-14570	52	7	of	of	ADP
fcis-14570	52	8	unmanned	unmanned	ADJ
fcis-14570	52	9	boats	boat	NOUN
fcis-14570	52	10	and	and	CCONJ
fcis-14570	52	11	avoid	avoid	VERB
fcis-14570	52	12	the	the	DET
fcis-14570	52	13	above	above	ADJ
fcis-14570	52	14	risks	risk	NOUN
fcis-14570	52	15	,	,	PUNCT
fcis-14570	52	16	it	it	PRON
fcis-14570	52	17	is	be	AUX
fcis-14570	52	18	necessary	necessary	ADJ
fcis-14570	52	19	to	to	PART
fcis-14570	52	20	restrict	restrict	VERB
fcis-14570	52	21	the	the	DET
fcis-14570	52	22	selection	selection	NOUN
fcis-14570	52	23	of	of	ADP
fcis-14570	52	24	child	child	NOUN
fcis-14570	52	25	nodes	node	NOUN
fcis-14570	52	26	.	.	PUNCT
fcis-14570	53	1	according	accord	VERB
fcis-14570	53	2	to	to	ADP
fcis-14570	53	3	the	the	DET
fcis-14570	53	4	relationship	relationship	NOUN
fcis-14570	53	5	between	between	ADP
fcis-14570	53	6	the	the	DET
fcis-14570	53	7	parent	parent	NOUN
fcis-14570	53	8	node	node	NOUN
fcis-14570	53	9	and	and	CCONJ
fcis-14570	53	10	each	each	DET
fcis-14570	53	11	child	child	NOUN
fcis-14570	53	12	node	node	VERB
fcis-14570	53	13	in	in	ADP
fcis-14570	53	14	figure	figure	NOUN
fcis-14570	53	15	2	2	NUM
fcis-14570	53	16	,	,	PUNCT
fcis-14570	53	17	the	the	DET
fcis-14570	53	18	positional	positional	ADJ
fcis-14570	53	19	relationship	relationship	NOUN
fcis-14570	53	20	between	between	ADP
fcis-14570	53	21	the	the	DET
fcis-14570	53	22	parent	parent	NOUN
fcis-14570	53	23	node	node	NOUN
fcis-14570	53	24	and	and	CCONJ
fcis-14570	53	25	the	the	DET
fcis-14570	53	26	child	child	NOUN
fcis-14570	53	27	node	node	NOUN
fcis-14570	53	28	is	be	AUX
fcis-14570	53	29	divided	divide	VERB
fcis-14570	53	30	into	into	ADP
fcis-14570	53	31	three	three	NUM
fcis-14570	53	32	types	type	NOUN
fcis-14570	53	33	:	:	PUNCT
fcis-14570	53	34	if	if	SCONJ
fcis-14570	53	35	it	it	PRON
fcis-14570	53	36	is	be	AUX
fcis-14570	53	37	a	a	DET
fcis-14570	53	38	type	type	NOUN
fcis-14570	53	39	1	1	NUM
fcis-14570	53	40	or	or	CCONJ
fcis-14570	53	41	2	2	NUM
fcis-14570	53	42	situation	situation	NOUN
fcis-14570	53	43	,	,	PUNCT
fcis-14570	53	44	the	the	DET
fcis-14570	53	45	nodes	node	NOUN
fcis-14570	53	46	adjacent	adjacent	ADJ
fcis-14570	53	47	to	to	ADP
fcis-14570	53	48	the	the	DET
fcis-14570	53	49	obstacle	obstacle	NOUN
fcis-14570	53	50	will	will	AUX
fcis-14570	53	51	not	not	PART
fcis-14570	53	52	be	be	AUX
fcis-14570	53	53	selected	select	VERB
fcis-14570	53	54	.	.	PUNCT
fcis-14570	54	1	if	if	SCONJ
fcis-14570	54	2	it	it	PRON
fcis-14570	54	3	is	be	AUX
fcis-14570	54	4	a	a	DET
fcis-14570	54	5	type	type	NOUN
fcis-14570	54	6	3	3	NUM
fcis-14570	54	7	obstacle	obstacle	NOUN
fcis-14570	54	8	,	,	PUNCT
fcis-14570	54	9	no	no	DET
fcis-14570	54	10	constraint	constraint	NOUN
fcis-14570	54	11	processing	processing	NOUN
fcis-14570	54	12	will	will	AUX
fcis-14570	54	13	be	be	AUX
fcis-14570	54	14	performed	perform	VERB
fcis-14570	54	15	.	.	PUNCT
fcis-14570	55	1	after	after	ADP
fcis-14570	55	2	the	the	DET
fcis-14570	55	3	above	above	ADJ
fcis-14570	55	4	constraints	constraint	NOUN
fcis-14570	55	5	,	,	PUNCT
fcis-14570	55	6	collisions	collision	NOUN
fcis-14570	55	7	with	with	ADP
fcis-14570	55	8	obstacles	obstacle	NOUN
fcis-14570	55	9	can	can	AUX
fcis-14570	55	10	be	be	AUX
fcis-14570	55	11	effectively	effectively	ADV
fcis-14570	55	12	avoided	avoid	VERB
fcis-14570	55	13	.	.	PUNCT
fcis-14570	56	1	the	the	DET
fcis-14570	56	2	improved	improved	ADJ
fcis-14570	56	3	a	a	PRON
fcis-14570	56	4	*	*	PUNCT
fcis-14570	56	5	is	be	AUX
fcis-14570	56	6	shown	show	VERB
fcis-14570	56	7	as	as	ADP
fcis-14570	56	8	l3	l3	PROPN
fcis-14570	56	9	in	in	ADP
fcis-14570	56	10	figure	figure	NOUN
fcis-14570	56	11	3	3	NUM
fcis-14570	56	12	.	.	NOUN
fcis-14570	56	13	3.4	3.4	NUM
fcis-14570	56	14	.	.	PUNCT
fcis-14570	57	1	redundant	redundant	VERB
fcis-14570	57	2	node	node	NOUN
fcis-14570	57	3	handling	handling	NOUN
fcis-14570	57	4	in	in	ADP
fcis-14570	57	5	the	the	DET
fcis-14570	57	6	traditional	traditional	ADJ
fcis-14570	57	7	a	a	DET
fcis-14570	57	8	*	*	X
fcis-14570	57	9	path	path	NOUN
fcis-14570	57	10	planning	planning	NOUN
fcis-14570	57	11	,	,	PUNCT
fcis-14570	57	12	there	there	PRON
fcis-14570	57	13	are	be	VERB
fcis-14570	57	14	many	many	ADJ
fcis-14570	57	15	collinear	collinear	ADJ
fcis-14570	57	16	nodes	node	NOUN
fcis-14570	57	17	and	and	CCONJ
fcis-14570	57	18	turning	turn	VERB
fcis-14570	57	19	points	point	NOUN
fcis-14570	57	20	,	,	PUNCT
fcis-14570	57	21	resulting	result	VERB
fcis-14570	57	22	in	in	ADP
fcis-14570	57	23	a	a	DET
fcis-14570	57	24	non	non	ADJ
fcis-14570	57	25	-	-	ADJ
fcis-14570	57	26	optimal	optimal	ADJ
fcis-14570	57	27	path	path	NOUN
fcis-14570	57	28	that	that	PRON
fcis-14570	57	29	is	be	AUX
fcis-14570	57	30	not	not	PART
fcis-14570	57	31	smooth	smooth	ADJ
fcis-14570	57	32	.	.	PUNCT
fcis-14570	58	1	at	at	ADP
fcis-14570	58	2	the	the	DET
fcis-14570	58	3	same	same	ADJ
fcis-14570	58	4	time	time	NOUN
fcis-14570	58	5	,	,	PUNCT
fcis-14570	58	6	under	under	ADP
fcis-14570	58	7	the	the	DET
fcis-14570	58	8	influence	influence	NOUN
fcis-14570	58	9	of	of	ADP
fcis-14570	58	10	many	many	ADJ
fcis-14570	58	11	such	such	ADJ
fcis-14570	58	12	nodes	node	NOUN
fcis-14570	58	13	,	,	PUNCT
fcis-14570	58	14	the	the	DET
fcis-14570	58	15	robot	robot	NOUN
fcis-14570	58	16	will	will	AUX
fcis-14570	58	17	move	move	VERB
fcis-14570	58	18	according	accord	VERB
fcis-14570	58	19	to	to	ADP
fcis-14570	58	20	the	the	DET
fcis-14570	58	21	these	these	DET
fcis-14570	58	22	redundant	redundant	ADJ
fcis-14570	58	23	nodes	node	NOUN
fcis-14570	58	24	constantly	constantly	ADV
fcis-14570	58	25	change	change	VERB
fcis-14570	58	26	directions	direction	NOUN
fcis-14570	58	27	,	,	PUNCT
fcis-14570	58	28	increasing	increase	VERB
fcis-14570	58	29	instability	instability	NOUN
fcis-14570	58	30	and	and	CCONJ
fcis-14570	58	31	energy	energy	NOUN
fcis-14570	58	32	consumption	consumption	NOUN
fcis-14570	58	33	during	during	ADP
fcis-14570	58	34	travel	travel	NOUN
fcis-14570	58	35	.	.	PUNCT
fcis-14570	59	1	the	the	DET
fcis-14570	59	2	nodes	node	NOUN
fcis-14570	59	3	are	be	AUX
fcis-14570	59	4	shown	show	VERB
fcis-14570	59	5	in	in	ADP
fcis-14570	59	6	figure	figure	NOUN
fcis-14570	59	7	4	4	NUM
fcis-14570	59	8	.	.	PUNCT
fcis-14570	60	1	(	(	PUNCT
fcis-14570	60	2	a)traditional	a)traditional	PROPN
fcis-14570	60	3	a	a	PRON
fcis-14570	60	4	*	*	X
fcis-14570	60	5	path	path	NOUN
fcis-14570	60	6	planning	planning	NOUN
fcis-14570	60	7	node	node	NOUN
fcis-14570	60	8	(	(	PUNCT
fcis-14570	60	9	b)key	b)key	NOUN
fcis-14570	60	10	point	point	NOUN
fcis-14570	60	11	extraction	extraction	NOUN
fcis-14570	60	12	(	(	PUNCT
fcis-14570	60	13	c)path	c)path	NOUN
fcis-14570	61	1	after	after	ADP
fcis-14570	61	2	removing	remove	VERB
fcis-14570	61	3	redundant	redundant	ADJ
fcis-14570	61	4	points	point	NOUN
fcis-14570	61	5	figure	figure	NOUN
fcis-14570	61	6	4	4	NUM
fcis-14570	61	7	.	.	PUNCT
fcis-14570	61	8	remove	remove	VERB
fcis-14570	61	9	redundant	redundant	ADJ
fcis-14570	61	10	points	point	NOUN
fcis-14570	61	11	(	(	PUNCT
fcis-14570	61	12	1	1	X
fcis-14570	61	13	)	)	PUNCT
fcis-14570	61	14	start	start	VERB
fcis-14570	61	15	from	from	ADP
fcis-14570	61	16	the	the	DET
fcis-14570	61	17	starting	starting	NOUN
fcis-14570	61	18	point	point	NOUN
fcis-14570	61	19	s	s	PART
fcis-14570	61	20	and	and	CCONJ
fcis-14570	61	21	gradually	gradually	ADV
fcis-14570	61	22	search	search	VERB
fcis-14570	61	23	for	for	ADP
fcis-14570	61	24	the	the	DET
fcis-14570	61	25	next	next	ADJ
fcis-14570	61	26	node	node	NOUN
fcis-14570	61	27	until	until	ADP
fcis-14570	61	28	the	the	DET
fcis-14570	61	29	target	target	NOUN
fcis-14570	61	30	point	point	NOUN
fcis-14570	61	31	.	.	PUNCT
fcis-14570	62	1	if	if	SCONJ
fcis-14570	62	2	several	several	ADJ
fcis-14570	62	3	nodes	node	NOUN
fcis-14570	62	4	are	be	AUX
fcis-14570	62	5	on	on	ADP
fcis-14570	62	6	the	the	DET
fcis-14570	62	7	same	same	ADJ
fcis-14570	62	8	straight	straight	ADJ
fcis-14570	62	9	line	line	NOUN
fcis-14570	62	10	and	and	CCONJ
fcis-14570	62	11	there	there	PRON
fcis-14570	62	12	are	be	VERB
fcis-14570	62	13	no	no	DET
fcis-14570	62	14	obstacles	obstacle	NOUN
fcis-14570	62	15	directly	directly	ADV
fcis-14570	62	16	on	on	ADP
fcis-14570	62	17	the	the	DET
fcis-14570	62	18	straight	straight	ADJ
fcis-14570	62	19	line	line	NOUN
fcis-14570	62	20	,	,	PUNCT
fcis-14570	62	21	then	then	ADV
fcis-14570	62	22	only	only	ADV
fcis-14570	62	23	the	the	DET
fcis-14570	62	24	starting	starting	NOUN
fcis-14570	62	25	point	point	NOUN
fcis-14570	62	26	and	and	CCONJ
fcis-14570	62	27	end	end	VERB
fcis-14570	62	28	point	point	NOUN
fcis-14570	62	29	of	of	ADP
fcis-14570	62	30	the	the	DET
fcis-14570	62	31	straight	straight	ADJ
fcis-14570	62	32	line	line	NOUN
fcis-14570	62	33	will	will	AUX
fcis-14570	62	34	be	be	AUX
fcis-14570	62	35	retained	retain	VERB
fcis-14570	62	36	,	,	PUNCT
fcis-14570	62	37	the	the	DET
fcis-14570	62	38	nodes	node	NOUN
fcis-14570	62	39	after	after	ADP
fcis-14570	62	40	screening	screen	VERB
fcis-14570	62	41	are	be	AUX
fcis-14570	62	42	shown	show	VERB
fcis-14570	62	43	in	in	ADP
fcis-14570	62	44	figure	figure	NOUN
fcis-14570	62	45	4(b	4(b	NUM
fcis-14570	62	46	)	)	PUNCT
fcis-14570	62	47	.	.	PUNCT
fcis-14570	63	1	39	39	NUM
fcis-14570	63	2	(	(	PUNCT
fcis-14570	63	3	2	2	NUM
fcis-14570	63	4	)	)	PUNCT
fcis-14570	63	5	since	since	SCONJ
fcis-14570	63	6	in	in	ADP
fcis-14570	63	7	a	a	DET
fcis-14570	63	8	*	*	X
fcis-14570	63	9	path	path	NOUN
fcis-14570	63	10	planning	planning	NOUN
fcis-14570	63	11	,	,	PUNCT
fcis-14570	63	12	the	the	DET
fcis-14570	63	13	robot	robot	NOUN
fcis-14570	63	14	is	be	AUX
fcis-14570	63	15	treated	treat	VERB
fcis-14570	63	16	as	as	ADP
fcis-14570	63	17	a	a	DET
fcis-14570	63	18	particle	particle	NOUN
fcis-14570	63	19	,	,	PUNCT
fcis-14570	63	20	the	the	DET
fcis-14570	63	21	actual	actual	ADJ
fcis-14570	63	22	volume	volume	NOUN
fcis-14570	63	23	of	of	ADP
fcis-14570	63	24	the	the	DET
fcis-14570	63	25	robot	robot	NOUN
fcis-14570	63	26	is	be	AUX
fcis-14570	63	27	ignored	ignore	VERB
fcis-14570	63	28	,	,	PUNCT
fcis-14570	63	29	and	and	CCONJ
fcis-14570	63	30	the	the	DET
fcis-14570	63	31	safe	safe	ADJ
fcis-14570	63	32	distance	distance	NOUN
fcis-14570	63	33	std	std	NOUN
fcis-14570	63	34	to	to	PART
fcis-14570	63	35	prevent	prevent	VERB
fcis-14570	63	36	collision	collision	NOUN
fcis-14570	63	37	with	with	ADP
fcis-14570	63	38	the	the	DET
fcis-14570	63	39	grid	grid	NOUN
fcis-14570	63	40	is	be	AUX
fcis-14570	63	41	quoted	quote	VERB
fcis-14570	63	42	to	to	PART
fcis-14570	63	43	form	form	VERB
fcis-14570	63	44	the	the	DET
fcis-14570	63	45	optimal	optimal	ADJ
fcis-14570	63	46	path	path	NOUN
fcis-14570	63	47	,	,	PUNCT
fcis-14570	63	48	2	2	NUM
fcis-14570	63	49	2st	2st	NOUN
fcis-14570	63	50	gridd	gridd	ADJ
fcis-14570	63	51	r	r	NOUN
fcis-14570	63	52	,	,	PUNCT
fcis-14570	63	53	where	where	SCONJ
fcis-14570	63	54	gridr	gridr	NOUN
fcis-14570	63	55	represents	represents	AUX
fcis-14570	63	56	each	each	DET
fcis-14570	63	57	grid	grid	NOUN
fcis-14570	63	58	the	the	DET
fcis-14570	63	59	side	side	NOUN
fcis-14570	63	60	length	length	NOUN
fcis-14570	63	61	of	of	ADP
fcis-14570	63	62	the	the	DET
fcis-14570	63	63	grid	grid	NOUN
fcis-14570	63	64	.	.	PUNCT
fcis-14570	64	1	in	in	ADP
fcis-14570	64	2	figure	figure	NOUN
fcis-14570	64	3	4(b	4(b	NUM
fcis-14570	64	4	)	)	PUNCT
fcis-14570	64	5	,	,	PUNCT
fcis-14570	64	6	a	a	DET
fcis-14570	64	7	binary	binary	ADJ
fcis-14570	64	8	search	search	NOUN
fcis-14570	64	9	is	be	AUX
fcis-14570	64	10	performed	perform	VERB
fcis-14570	64	11	from	from	ADP
fcis-14570	64	12	the	the	DET
fcis-14570	64	13	starting	starting	NOUN
fcis-14570	64	14	point	point	NOUN
fcis-14570	64	15	to	to	ADP
fcis-14570	64	16	the	the	DET
fcis-14570	64	17	target	target	NOUN
fcis-14570	64	18	point	point	NOUN
fcis-14570	64	19	on	on	ADP
fcis-14570	64	20	the	the	DET
fcis-14570	64	21	path	path	NOUN
fcis-14570	64	22	removing	remove	VERB
fcis-14570	64	23	the	the	DET
fcis-14570	64	24	intermediate	intermediate	ADJ
fcis-14570	64	25	nodes	node	NOUN
fcis-14570	64	26	.	.	PUNCT
fcis-14570	65	1	if	if	SCONJ
fcis-14570	65	2	there	there	PRON
fcis-14570	65	3	are	be	VERB
fcis-14570	65	4	no	no	DET
fcis-14570	65	5	obstacles	obstacle	NOUN
fcis-14570	65	6	,	,	PUNCT
fcis-14570	65	7	the	the	DET
fcis-14570	65	8	original	original	ADJ
fcis-14570	65	9	path	path	NOUN
fcis-14570	65	10	is	be	AUX
fcis-14570	65	11	retained	retain	VERB
fcis-14570	65	12	.	.	PUNCT
fcis-14570	66	1	when	when	SCONJ
fcis-14570	66	2	an	an	DET
fcis-14570	66	3	obstacle	obstacle	NOUN
fcis-14570	66	4	is	be	AUX
fcis-14570	66	5	encountered	encounter	VERB
fcis-14570	66	6	,	,	PUNCT
fcis-14570	66	7	the	the	DET
fcis-14570	66	8	last	last	ADJ
fcis-14570	66	9	selected	select	VERB
fcis-14570	66	10	node	node	NOUN
fcis-14570	66	11	is	be	AUX
fcis-14570	66	12	retained	retain	VERB
fcis-14570	66	13	.	.	PUNCT
fcis-14570	67	1	and	and	CCONJ
fcis-14570	67	2	calculate	calculate	VERB
fcis-14570	67	3	the	the	DET
fcis-14570	67	4	distance	distance	NOUN
fcis-14570	67	5	l	l	NOUN
fcis-14570	67	6	from	from	ADP
fcis-14570	67	7	the	the	DET
fcis-14570	67	8	center	center	NOUN
fcis-14570	67	9	to	to	ADP
fcis-14570	67	10	the	the	DET
fcis-14570	67	11	obstacle	obstacle	NOUN
fcis-14570	67	12	.	.	PUNCT
fcis-14570	68	1	by	by	ADP
fcis-14570	68	2	comparing	compare	VERB
fcis-14570	68	3	l	l	NOUN
fcis-14570	68	4	with	with	ADP
fcis-14570	68	5	the	the	DET
fcis-14570	68	6	safe	safe	ADJ
fcis-14570	68	7	distance	distance	NOUN
fcis-14570	68	8	std	std	NOUN
fcis-14570	68	9	,	,	PUNCT
fcis-14570	68	10	if	if	SCONJ
fcis-14570	68	11	stl	stl	PROPN
fcis-14570	68	12	d	d	PROPN
fcis-14570	68	13	,	,	PUNCT
fcis-14570	68	14	keep	keep	VERB
fcis-14570	68	15	the	the	DET
fcis-14570	68	16	previous	previous	ADJ
fcis-14570	68	17	node	node	NOUN
fcis-14570	68	18	,	,	PUNCT
fcis-14570	68	19	if	if	SCONJ
fcis-14570	68	20	stl	stl	PROPN
fcis-14570	68	21	d	d	PROPN
fcis-14570	68	22	,	,	PUNCT
fcis-14570	68	23	delete	delete	VERB
fcis-14570	68	24	the	the	DET
fcis-14570	68	25	previous	previous	ADJ
fcis-14570	68	26	node	node	NOUN
fcis-14570	68	27	.	.	PUNCT
fcis-14570	69	1	the	the	DET
fcis-14570	69	2	final	final	ADJ
fcis-14570	69	3	path	path	NOUN
fcis-14570	69	4	is	be	AUX
fcis-14570	69	5	shown	show	VERB
fcis-14570	69	6	in	in	ADP
fcis-14570	69	7	figure	figure	NOUN
fcis-14570	69	8	4(c	4(c	NUM
fcis-14570	69	9	)	)	PUNCT
fcis-14570	69	10	.	.	PUNCT
fcis-14570	70	1	it	it	PRON
fcis-14570	70	2	can	can	AUX
fcis-14570	70	3	be	be	AUX
fcis-14570	70	4	seen	see	VERB
fcis-14570	70	5	that	that	SCONJ
fcis-14570	70	6	redundant	redundant	ADJ
fcis-14570	70	7	points	point	NOUN
fcis-14570	70	8	,	,	PUNCT
fcis-14570	70	9	path	path	NOUN
fcis-14570	70	10	length	length	NOUN
fcis-14570	70	11	,	,	PUNCT
fcis-14570	70	12	and	and	CCONJ
fcis-14570	70	13	number	number	NOUN
fcis-14570	70	14	of	of	ADP
fcis-14570	70	15	turns	turn	NOUN
fcis-14570	70	16	are	be	AUX
fcis-14570	70	17	significantly	significantly	ADV
fcis-14570	70	18	reduced	reduce	VERB
fcis-14570	70	19	.	.	PUNCT
fcis-14570	71	1	4	4	X
fcis-14570	71	2	.	.	X
fcis-14570	71	3	dwa	dwa	PROPN
fcis-14570	71	4	path	path	PROPN
fcis-14570	71	5	planning	planning	NOUN
fcis-14570	71	6	algorithm	algorithm	NOUN
fcis-14570	71	7	in	in	ADP
fcis-14570	71	8	the	the	DET
fcis-14570	71	9	actual	actual	ADJ
fcis-14570	71	10	working	working	NOUN
fcis-14570	71	11	environment	environment	NOUN
fcis-14570	71	12	,	,	PUNCT
fcis-14570	71	13	there	there	PRON
fcis-14570	71	14	are	be	VERB
fcis-14570	71	15	unknown	unknown	ADJ
fcis-14570	71	16	static	static	ADJ
fcis-14570	71	17	and	and	CCONJ
fcis-14570	71	18	dynamic	dynamic	ADJ
fcis-14570	71	19	obstacles	obstacle	NOUN
fcis-14570	71	20	.	.	PUNCT
fcis-14570	72	1	these	these	DET
fcis-14570	72	2	factors	factor	NOUN
fcis-14570	72	3	will	will	AUX
fcis-14570	72	4	have	have	VERB
fcis-14570	72	5	an	an	DET
fcis-14570	72	6	impact	impact	NOUN
fcis-14570	72	7	on	on	ADP
fcis-14570	72	8	the	the	DET
fcis-14570	72	9	robot	robot	NOUN
fcis-14570	72	10	's	's	PART
fcis-14570	72	11	path	path	NOUN
fcis-14570	72	12	.	.	PUNCT
fcis-14570	73	1	therefore	therefore	ADV
fcis-14570	73	2	,	,	PUNCT
fcis-14570	73	3	in	in	ADP
fcis-14570	73	4	order	order	NOUN
fcis-14570	73	5	to	to	PART
fcis-14570	73	6	achieve	achieve	VERB
fcis-14570	73	7	safety	safety	NOUN
fcis-14570	73	8	during	during	ADP
fcis-14570	73	9	the	the	DET
fcis-14570	73	10	work	work	NOUN
fcis-14570	73	11	process	process	NOUN
fcis-14570	73	12	,	,	PUNCT
fcis-14570	73	13	this	this	DET
fcis-14570	73	14	paper	paper	NOUN
fcis-14570	73	15	uses	use	VERB
fcis-14570	73	16	the	the	DET
fcis-14570	73	17	dynamic	dynamic	ADJ
fcis-14570	73	18	window	window	NOUN
fcis-14570	73	19	method	method	NOUN
fcis-14570	73	20	to	to	PART
fcis-14570	73	21	perform	perform	VERB
fcis-14570	73	22	local	local	ADJ
fcis-14570	73	23	planning	planning	NOUN
fcis-14570	73	24	after	after	SCONJ
fcis-14570	73	25	the	the	DET
fcis-14570	73	26	global	global	ADJ
fcis-14570	73	27	path	path	PROPN
fcis-14570	73	28	planning	planning	NOUN
fcis-14570	73	29	is	be	AUX
fcis-14570	73	30	completed	complete	VERB
fcis-14570	73	31	.	.	PUNCT
fcis-14570	74	1	path	path	NOUN
fcis-14570	74	2	planning	planning	NOUN
fcis-14570	74	3	in	in	ADP
fcis-14570	74	4	unknown	unknown	ADJ
fcis-14570	74	5	environments	environment	NOUN
fcis-14570	74	6	.	.	PUNCT
fcis-14570	75	1	4.1	4.1	NUM
fcis-14570	75	2	.	.	PUNCT
fcis-14570	75	3	robot	robot	NOUN
fcis-14570	75	4	velocity	velocity	NOUN
fcis-14570	75	5	sampling	sample	VERB
fcis-14570	75	6	in	in	ADP
fcis-14570	75	7	the	the	DET
fcis-14570	75	8	actual	actual	ADJ
fcis-14570	75	9	movement	movement	NOUN
fcis-14570	75	10	of	of	ADP
fcis-14570	75	11	the	the	DET
fcis-14570	75	12	robot	robot	NOUN
fcis-14570	75	13	,	,	PUNCT
fcis-14570	75	14	there	there	PRON
fcis-14570	75	15	will	will	AUX
fcis-14570	75	16	be	be	AUX
fcis-14570	75	17	a	a	DET
fcis-14570	75	18	certain	certain	ADJ
fcis-14570	75	19	range	range	NOUN
fcis-14570	75	20	of	of	ADP
fcis-14570	75	21	linear	linear	ADJ
fcis-14570	75	22	speed	speed	NOUN
fcis-14570	75	23	and	and	CCONJ
fcis-14570	75	24	angular	angular	ADJ
fcis-14570	75	25	speed	speed	NOUN
fcis-14570	75	26	due	due	ADP
fcis-14570	75	27	to	to	ADP
fcis-14570	75	28	the	the	DET
fcis-14570	75	29	constraints	constraint	NOUN
fcis-14570	75	30	of	of	ADP
fcis-14570	75	31	its	its	PRON
fcis-14570	75	32	own	own	ADJ
fcis-14570	75	33	design	design	NOUN
fcis-14570	75	34	and	and	CCONJ
fcis-14570	75	35	structure	structure	NOUN
fcis-14570	75	36	.	.	PUNCT
fcis-14570	76	1	mv	mv	PROPN
fcis-14570	76	2	is	be	AUX
fcis-14570	76	3	the	the	DET
fcis-14570	76	4	set	set	NOUN
fcis-14570	76	5	between	between	ADP
fcis-14570	76	6	the	the	DET
fcis-14570	76	7	minimum	minimum	ADJ
fcis-14570	76	8	and	and	CCONJ
fcis-14570	76	9	maximum	maximum	ADJ
fcis-14570	76	10	speed	speed	NOUN
fcis-14570	76	11	of	of	ADP
fcis-14570	76	12	the	the	DET
fcis-14570	76	13	robot	robot	NOUN
fcis-14570	76	14	.	.	PUNCT
fcis-14570	77	1	the	the	DET
fcis-14570	77	2	speed	speed	NOUN
fcis-14570	77	3	includes	include	VERB
fcis-14570	77	4	the	the	DET
fcis-14570	77	5	linear	linear	ADJ
fcis-14570	77	6	speed	speed	NOUN
fcis-14570	77	7	and	and	CCONJ
fcis-14570	77	8	angular	angular	ADJ
fcis-14570	77	9	speed	speed	NOUN
fcis-14570	77	10	,	,	PUNCT
fcis-14570	77	11	expressed	express	VERB
fcis-14570	77	12	as	as	ADP
fcis-14570	77	13	(	(	PUNCT
fcis-14570	77	14	,	,	PUNCT
fcis-14570	77	15	)	)	PUNCT
fcis-14570	77	16	v	v	NOUN
fcis-14570	77	17	m	m	NOUN
fcis-14570	77	18	,	,	PUNCT
fcis-14570	77	19	then	then	ADV
fcis-14570	77	20	mv	mv	PROPN
fcis-14570	77	21	can	can	AUX
fcis-14570	77	22	be	be	AUX
fcis-14570	77	23	expressed	express	VERB
fcis-14570	77	24	as	as	ADP
fcis-14570	77	25	:	:	PUNCT
fcis-14570	77	26			NOUN
fcis-14570	77	27	min	min	PROPN
fcis-14570	77	28	max	max	PROPN
fcis-14570	77	29	min	min	PROPN
fcis-14570	77	30	max	max	PROPN
fcis-14570	77	31	(	(	PUNCT
fcis-14570	77	32	,	,	PUNCT
fcis-14570	77	33	)	)	PUNCT
fcis-14570	78	1	|	|	ADV
fcis-14570	78	2	[	[	PUNCT
fcis-14570	78	3	,	,	PUNCT
fcis-14570	78	4	]	]	X
fcis-14570	78	5	,	,	PUNCT
fcis-14570	78	6	[	[	PUNCT
fcis-14570	78	7	,	,	PUNCT
fcis-14570	78	8	]	]	X
fcis-14570	78	9	mv	mv	PROPN
fcis-14570	78	10	v	v	ADP
fcis-14570	78	11	m	m	PROPN
fcis-14570	78	12	v	v	ADP
fcis-14570	78	13	v	v	NUM
fcis-14570	78	14	v	v	ADP
fcis-14570	78	15	v	v	NOUN
fcis-14570	78	16	v	v	PROPN
fcis-14570	78	17			NOUN
fcis-14570	78	18			NOUN
fcis-14570	78	19	(	(	PUNCT
fcis-14570	78	20	5	5	NUM
fcis-14570	78	21	)	)	PUNCT
fcis-14570	78	22	maneuverability	maneuverability	NOUN
fcis-14570	78	23	constraints	constraint	NOUN
fcis-14570	78	24	:	:	PUNCT
fcis-14570	78	25			NOUN
fcis-14570	78	26	'	'	PUNCT
fcis-14570	78	27	'	'	PUNCT
fcis-14570	78	28	'	'	PUNCT
fcis-14570	78	29	'	'	PUNCT
fcis-14570	78	30	(	(	PUNCT
fcis-14570	78	31	,	,	PUNCT
fcis-14570	78	32	)	)	PUNCT
fcis-14570	79	1	|	|	ADV
fcis-14570	79	2	[	[	PUNCT
fcis-14570	79	3	,	,	PUNCT
fcis-14570	79	4	]	]	PUNCT
fcis-14570	79	5	,	,	PUNCT
fcis-14570	79	6	[	[	PUNCT
fcis-14570	79	7	,	,	PUNCT
fcis-14570	79	8	]	]	X
fcis-14570	79	9	d	d	X
fcis-14570	79	10	c	c	NOUN
fcis-14570	79	11	c	c	NOUN
fcis-14570	79	12	c	c	PROPN
fcis-14570	79	13	cv	cv	PROPN
fcis-14570	79	14	v	v	ADP
fcis-14570	79	15	m	m	PROPN
fcis-14570	79	16	v	v	ADP
fcis-14570	79	17	v	v	NUM
fcis-14570	79	18	v	v	ADP
fcis-14570	79	19	t	t	PROPN
fcis-14570	79	20	v	v	NOUN
fcis-14570	79	21	v	v	ADP
fcis-14570	79	22	t	t	X
fcis-14570	79	23	t	t	NOUN
fcis-14570	79	24	t	t	X
fcis-14570	80	1			X
fcis-14570	80	2			X
fcis-14570	80	3			X
fcis-14570	80	4			PROPN
fcis-14570	80	5			PROPN
fcis-14570	80	6			NOUN
fcis-14570	80	7			PRON
fcis-14570	80	8			PUNCT
fcis-14570	80	9			PROPN
fcis-14570	80	10			NOUN
fcis-14570	80	11			PRON
fcis-14570	80	12			X
fcis-14570	80	13	(	(	PUNCT
fcis-14570	80	14	6	6	NUM
fcis-14570	80	15	)	)	PUNCT
fcis-14570	80	16	braking	brake	VERB
fcis-14570	80	17	distance	distance	NOUN
fcis-14570	80	18	constraint	constraint	NOUN
fcis-14570	80	19	:	:	PUNCT
fcis-14570	80	20			ADV
fcis-14570	80	21	(	(	PUNCT
fcis-14570	80	22	,	,	PUNCT
fcis-14570	80	23	)	)	PUNCT
fcis-14570	81	1	|	|	ADV
fcis-14570	81	2	2	2	NUM
fcis-14570	81	3	(	(	PUNCT
fcis-14570	81	4	,	,	PUNCT
fcis-14570	81	5	)	)	PUNCT
fcis-14570	81	6	]	]	X
fcis-14570	81	7	,	,	PUNCT
fcis-14570	81	8	2	2	NUM
fcis-14570	81	9	(	(	PUNCT
fcis-14570	81	10	,	,	PUNCT
fcis-14570	81	11	)	)	PUNCT
fcis-14570	81	12	av	av	PROPN
fcis-14570	82	1	v	v	NUM
fcis-14570	82	2	v	v	PROPN
fcis-14570	82	3	dist	dist	NOUN
fcis-14570	82	4	v	v	ADP
fcis-14570	82	5	v	v	NOUN
fcis-14570	82	6	dist	dist	NOUN
fcis-14570	82	7	v	v	NOUN
fcis-14570	83	1			X
fcis-14570	83	2			X
fcis-14570	83	3			X
fcis-14570	83	4			PUNCT
fcis-14570	83	5			NUM
fcis-14570	83	6			VERB
fcis-14570	83	7			NOUN
fcis-14570	83	8			NUM
fcis-14570	83	9			NOUN
fcis-14570	83	10	(	(	PUNCT
fcis-14570	83	11	7	7	NUM
fcis-14570	83	12	)	)	PUNCT
fcis-14570	83	13	after	after	ADP
fcis-14570	83	14	integrating	integrate	VERB
fcis-14570	83	15	the	the	DET
fcis-14570	83	16	above	above	ADJ
fcis-14570	83	17	three	three	NUM
fcis-14570	83	18	constraints	constraint	NOUN
fcis-14570	83	19	,	,	PUNCT
fcis-14570	83	20	we	we	PRON
fcis-14570	83	21	can	can	AUX
fcis-14570	83	22	obtain	obtain	VERB
fcis-14570	83	23	the	the	DET
fcis-14570	83	24	sampling	sample	VERB
fcis-14570	83	25	space	space	NOUN
fcis-14570	83	26	vr	vr	NOUN
fcis-14570	83	27	of	of	ADP
fcis-14570	83	28	all	all	DET
fcis-14570	83	29	feasible	feasible	ADJ
fcis-14570	83	30	speeds	speed	NOUN
fcis-14570	83	31	.	.	PUNCT
fcis-14570	84	1	in	in	ADP
fcis-14570	84	2	order	order	NOUN
fcis-14570	84	3	to	to	PART
fcis-14570	84	4	ensure	ensure	VERB
fcis-14570	84	5	the	the	DET
fcis-14570	84	6	safety	safety	NOUN
fcis-14570	84	7	of	of	ADP
fcis-14570	84	8	the	the	DET
fcis-14570	84	9	unmanned	unmanned	ADJ
fcis-14570	84	10	boat	boat	NOUN
fcis-14570	84	11	,	,	PUNCT
fcis-14570	84	12	its	its	PRON
fcis-14570	84	13	speed	speed	NOUN
fcis-14570	84	14	should	should	AUX
fcis-14570	84	15	satisfy	satisfy	VERB
fcis-14570	84	16	all	all	DET
fcis-14570	84	17	the	the	DET
fcis-14570	84	18	above	above	ADJ
fcis-14570	84	19	constraints	constraint	NOUN
fcis-14570	84	20	.	.	PUNCT
fcis-14570	85	1	therefore	therefore	ADV
fcis-14570	85	2	,	,	PUNCT
fcis-14570	85	3	vr	vr	PROPN
fcis-14570	85	4	is	be	AUX
fcis-14570	85	5	the	the	DET
fcis-14570	85	6	intersection	intersection	NOUN
fcis-14570	85	7	of	of	ADP
fcis-14570	85	8	the	the	DET
fcis-14570	85	9	above	above	ADJ
fcis-14570	85	10	three	three	NUM
fcis-14570	85	11	sets	set	NOUN
fcis-14570	85	12	,	,	PUNCT
fcis-14570	85	13	expressed	express	VERB
fcis-14570	85	14	as	as	ADP
fcis-14570	85	15	:	:	PUNCT
fcis-14570	85	16	r	r	NOUN
fcis-14570	85	17	m	m	PROPN
fcis-14570	85	18	d	d	NOUN
fcis-14570	85	19	av	av	PROPN
fcis-14570	85	20	v	v	X
fcis-14570	85	21	v	v	ADP
fcis-14570	85	22	v	v	NOUN
fcis-14570	85	23			ADP
fcis-14570	85	24			PROPN
fcis-14570	85	25	(	(	PUNCT
fcis-14570	85	26	8)	8)	NUM
fcis-14570	85	27	4.2	4.2	NUM
fcis-14570	85	28	.	.	PUNCT
fcis-14570	86	1	improved	improve	VERB
fcis-14570	86	2	trajectory	trajectory	NOUN
fcis-14570	86	3	evaluation	evaluation	NOUN
fcis-14570	86	4	function	function	NOUN
fcis-14570	86	5	after	after	ADP
fcis-14570	86	6	determining	determine	VERB
fcis-14570	86	7	the	the	DET
fcis-14570	86	8	speed	speed	NOUN
fcis-14570	86	9	sampling	sample	VERB
fcis-14570	86	10	space	space	NOUN
fcis-14570	86	11	,	,	PUNCT
fcis-14570	86	12	multiple	multiple	ADJ
fcis-14570	86	13	sets	set	NOUN
fcis-14570	86	14	of	of	ADP
fcis-14570	86	15	feasible	feasible	ADJ
fcis-14570	86	16	speed	speed	NOUN
fcis-14570	86	17	pairs	pair	NOUN
fcis-14570	86	18	can	can	AUX
fcis-14570	86	19	be	be	AUX
fcis-14570	86	20	discreted	discrete	VERB
fcis-14570	86	21	from	from	ADP
fcis-14570	86	22	it	it	PRON
fcis-14570	86	23	.	.	PUNCT
fcis-14570	87	1	after	after	ADP
fcis-14570	87	2	obtaining	obtain	VERB
fcis-14570	87	3	the	the	DET
fcis-14570	87	4	estimated	estimate	VERB
fcis-14570	87	5	trajectories	trajectory	NOUN
fcis-14570	87	6	corresponding	correspond	VERB
fcis-14570	87	7	to	to	ADP
fcis-14570	87	8	multiple	multiple	ADJ
fcis-14570	87	9	sets	set	NOUN
fcis-14570	87	10	of	of	ADP
fcis-14570	87	11	speeds	speed	NOUN
fcis-14570	87	12	,	,	PUNCT
fcis-14570	87	13	it	it	PRON
fcis-14570	87	14	is	be	AUX
fcis-14570	87	15	necessary	necessary	ADJ
fcis-14570	87	16	to	to	PART
fcis-14570	87	17	use	use	VERB
fcis-14570	87	18	the	the	DET
fcis-14570	87	19	evaluation	evaluation	NOUN
fcis-14570	87	20	function	function	NOUN
fcis-14570	87	21	as	as	ADP
fcis-14570	87	22	a	a	DET
fcis-14570	87	23	criterion	criterion	NOUN
fcis-14570	87	24	to	to	PART
fcis-14570	87	25	evaluate	evaluate	VERB
fcis-14570	87	26	and	and	CCONJ
fcis-14570	87	27	select	select	VERB
fcis-14570	87	28	all	all	DET
fcis-14570	87	29	trajectories	trajectory	NOUN
fcis-14570	87	30	,	,	PUNCT
fcis-14570	87	31	and	and	CCONJ
fcis-14570	87	32	finally	finally	ADV
fcis-14570	87	33	select	select	VERB
fcis-14570	87	34	the	the	DET
fcis-14570	87	35	speed	speed	NOUN
fcis-14570	87	36	corresponding	correspond	VERB
fcis-14570	87	37	to	to	ADP
fcis-14570	87	38	the	the	DET
fcis-14570	87	39	optimal	optimal	ADJ
fcis-14570	87	40	trajectory	trajectory	NOUN
fcis-14570	87	41	is	be	AUX
fcis-14570	87	42	used	use	VERB
fcis-14570	87	43	as	as	ADP
fcis-14570	87	44	the	the	DET
fcis-14570	87	45	navigation	navigation	NOUN
fcis-14570	87	46	speed	speed	NOUN
fcis-14570	87	47	of	of	ADP
fcis-14570	87	48	the	the	DET
fcis-14570	87	49	next	next	ADJ
fcis-14570	87	50	unit	unit	NOUN
fcis-14570	87	51	moment	moment	NOUN
fcis-14570	87	52	.	.	PUNCT
fcis-14570	88	1	in	in	ADP
fcis-14570	88	2	the	the	DET
fcis-14570	88	3	traditional	traditional	ADJ
fcis-14570	88	4	dynamic	dynamic	ADJ
fcis-14570	88	5	window	window	NOUN
fcis-14570	88	6	method	method	NOUN
fcis-14570	88	7	,	,	PUNCT
fcis-14570	88	8	the	the	DET
fcis-14570	88	9	parameters	parameter	NOUN
fcis-14570	88	10	considered	consider	VERB
fcis-14570	88	11	in	in	ADP
fcis-14570	88	12	the	the	DET
fcis-14570	88	13	evaluation	evaluation	NOUN
fcis-14570	88	14	function	function	NOUN
fcis-14570	88	15	are	be	AUX
fcis-14570	88	16	azimuth	azimuth	ADV
fcis-14570	88	17	,	,	PUNCT
fcis-14570	88	18	speed	speed	NOUN
fcis-14570	88	19	,	,	PUNCT
fcis-14570	88	20	and	and	CCONJ
fcis-14570	88	21	distance	distance	NOUN
fcis-14570	88	22	.	.	PUNCT
fcis-14570	89	1	(	(	PUNCT
fcis-14570	89	2	,	,	PUNCT
fcis-14570	89	3	)	)	PUNCT
fcis-14570	89	4	(	(	PUNCT
fcis-14570	89	5	,	,	PUNCT
fcis-14570	89	6	)	)	PUNCT
fcis-14570	89	7	(	(	PUNCT
fcis-14570	89	8	,	,	PUNCT
fcis-14570	89	9	)	)	PUNCT
fcis-14570	89	10	(	(	PUNCT
fcis-14570	89	11	,	,	PUNCT
fcis-14570	89	12	)	)	PUNCT
fcis-14570	89	13	g	g	ADP
fcis-14570	89	14	v	v	NUM
fcis-14570	89	15	w	w	PROPN
fcis-14570	89	16	head	head	PROPN
fcis-14570	89	17	v	v	ADP
fcis-14570	89	18	w	w	PROPN
fcis-14570	89	19	vel	vel	PROPN
fcis-14570	89	20	v	v	PROPN
fcis-14570	89	21	w	w	PROPN
fcis-14570	89	22	dist	dist	NOUN
fcis-14570	89	23	v	v	ADP
fcis-14570	89	24	w	w	PROPN
fcis-14570	89	25			PROPN
fcis-14570	89	26			PROPN
fcis-14570	89	27			PROPN
fcis-14570	89	28			ADV
fcis-14570	89	29			NUM
fcis-14570	89	30			ADJ
fcis-14570	89	31			PROPN
fcis-14570	89	32	(	(	PUNCT
fcis-14570	89	33	9	9	NUM
fcis-14570	89	34	)	)	PUNCT
fcis-14570	89	35	among	among	ADP
fcis-14570	89	36	them	they	PRON
fcis-14570	89	37	,	,	PUNCT
fcis-14570	89	38			X
fcis-14570	89	39	,	,	PUNCT
fcis-14570	89	40			PROPN
fcis-14570	89	41	and	and	NOUN
fcis-14570	89	42	are	be	AUX
fcis-14570	89	43	the	the	DET
fcis-14570	89	44	weighted	weight	VERB
fcis-14570	89	45	coefficients	coefficient	NOUN
fcis-14570	89	46	of	of	ADP
fcis-14570	89	47	three	three	NUM
fcis-14570	89	48	evaluation	evaluation	NOUN
fcis-14570	89	49	functions	function	NOUN
fcis-14570	89	50	respectively	respectively	ADV
fcis-14570	89	51	,	,	PUNCT
fcis-14570	89	52	(	(	PUNCT
fcis-14570	89	53	,	,	PUNCT
fcis-14570	89	54	)	)	PUNCT
fcis-14570	89	55	head	head	NOUN
fcis-14570	89	56	v	v	NOUN
fcis-14570	89	57	w	w	NOUN
fcis-14570	89	58	is	be	AUX
fcis-14570	89	59	the	the	DET
fcis-14570	89	60	azimuth	azimuth	PROPN
fcis-14570	89	61	angle	angle	NOUN
fcis-14570	89	62	deviation	deviation	NOUN
fcis-14570	89	63	between	between	ADP
fcis-14570	89	64	the	the	DET
fcis-14570	89	65	direction	direction	NOUN
fcis-14570	89	66	trajectory	trajectory	NOUN
fcis-14570	89	67	of	of	ADP
fcis-14570	89	68	the	the	DET
fcis-14570	89	69	current	current	ADJ
fcis-14570	89	70	movement	movement	NOUN
fcis-14570	89	71	direction	direction	NOUN
fcis-14570	89	72	and	and	CCONJ
fcis-14570	89	73	the	the	DET
fcis-14570	89	74	target	target	NOUN
fcis-14570	89	75	point	point	NOUN
fcis-14570	89	76	;	;	PUNCT
fcis-14570	89	77	(	(	PUNCT
fcis-14570	89	78	,	,	PUNCT
fcis-14570	89	79	)	)	PUNCT
fcis-14570	89	80	vel	vel	PROPN
fcis-14570	89	81	v	v	NOUN
fcis-14570	89	82	w	w	NOUN
fcis-14570	89	83	evaluates	evaluate	VERB
fcis-14570	89	84	the	the	DET
fcis-14570	89	85	current	current	ADJ
fcis-14570	89	86	speed	speed	NOUN
fcis-14570	89	87	,	,	PUNCT
fcis-14570	89	88	and	and	CCONJ
fcis-14570	89	89	(	(	PUNCT
fcis-14570	89	90	,	,	PUNCT
fcis-14570	89	91	)	)	PUNCT
fcis-14570	89	92	dist	dist	NOUN
fcis-14570	89	93	v	v	NOUN
fcis-14570	89	94	w	w	NOUN
fcis-14570	89	95	is	be	AUX
fcis-14570	89	96	the	the	DET
fcis-14570	89	97	distance	distance	NOUN
fcis-14570	89	98	between	between	ADP
fcis-14570	89	99	the	the	DET
fcis-14570	89	100	current	current	ADJ
fcis-14570	89	101	movement	movement	NOUN
fcis-14570	89	102	trajectory	trajectory	NOUN
fcis-14570	89	103	and	and	CCONJ
fcis-14570	89	104	the	the	DET
fcis-14570	89	105	obstacle	obstacle	NOUN
fcis-14570	89	106	.	.	PUNCT
fcis-14570	90	1	distance	distance	NOUN
fcis-14570	90	2	,	,	PUNCT
fcis-14570	90	3	analysis	analysis	NOUN
fcis-14570	90	4	of	of	ADP
fcis-14570	90	5	the	the	DET
fcis-14570	90	6	above	above	ADJ
fcis-14570	90	7	evaluation	evaluation	NOUN
fcis-14570	90	8	function	function	NOUN
fcis-14570	90	9	shows	show	VERB
fcis-14570	90	10	that	that	SCONJ
fcis-14570	90	11	there	there	PRON
fcis-14570	90	12	is	be	VERB
fcis-14570	90	13	only	only	ADV
fcis-14570	90	14	one	one	NUM
fcis-14570	90	15	final	final	ADJ
fcis-14570	90	16	target	target	NOUN
fcis-14570	90	17	as	as	ADP
fcis-14570	90	18	a	a	DET
fcis-14570	90	19	guide	guide	NOUN
fcis-14570	90	20	in	in	ADP
fcis-14570	90	21	the	the	DET
fcis-14570	90	22	azimuth	azimuth	NOUN
fcis-14570	90	23	angle	angle	NOUN
fcis-14570	90	24	.	.	PUNCT
fcis-14570	91	1	if	if	SCONJ
fcis-14570	91	2	there	there	PRON
fcis-14570	91	3	are	be	VERB
fcis-14570	91	4	too	too	ADV
fcis-14570	91	5	many	many	ADJ
fcis-14570	91	6	obstacles	obstacle	NOUN
fcis-14570	91	7	in	in	ADP
fcis-14570	91	8	the	the	DET
fcis-14570	91	9	environment	environment	NOUN
fcis-14570	91	10	,	,	PUNCT
fcis-14570	91	11	the	the	DET
fcis-14570	91	12	path	path	NOUN
fcis-14570	91	13	will	will	AUX
fcis-14570	91	14	fall	fall	VERB
fcis-14570	91	15	into	into	ADP
fcis-14570	91	16	a	a	DET
fcis-14570	91	17	local	local	ADJ
fcis-14570	91	18	optimum	optimum	NOUN
fcis-14570	91	19	,	,	PUNCT
fcis-14570	91	20	because	because	SCONJ
fcis-14570	91	21	this	this	DET
fcis-14570	91	22	article	article	NOUN
fcis-14570	91	23	adopts	adopt	VERB
fcis-14570	91	24	the	the	DET
fcis-14570	91	25	key	key	NOUN
fcis-14570	91	26	to	to	PART
fcis-14570	91	27	improve	improve	VERB
fcis-14570	91	28	a	a	DET
fcis-14570	91	29	*	*	ADJ
fcis-14570	91	30	global	global	ADJ
fcis-14570	91	31	path	path	NOUN
fcis-14570	91	32	planning	planning	NOUN
fcis-14570	91	33	.	.	PUNCT
fcis-14570	92	1	the	the	DET
fcis-14570	92	2	turning	turning	NOUN
fcis-14570	92	3	point	point	NOUN
fcis-14570	92	4	serves	serve	VERB
fcis-14570	92	5	as	as	ADP
fcis-14570	92	6	a	a	DET
fcis-14570	92	7	guide	guide	NOUN
fcis-14570	92	8	point	point	NOUN
fcis-14570	92	9	to	to	PART
fcis-14570	92	10	reach	reach	VERB
fcis-14570	92	11	the	the	DET
fcis-14570	92	12	target	target	NOUN
fcis-14570	92	13	point	point	NOUN
fcis-14570	92	14	.	.	PUNCT
fcis-14570	93	1	in	in	ADP
fcis-14570	93	2	addition	addition	NOUN
fcis-14570	93	3	,	,	PUNCT
fcis-14570	93	4	for	for	ADP
fcis-14570	93	5	unknown	unknown	ADJ
fcis-14570	93	6	static	static	ADJ
fcis-14570	93	7	and	and	CCONJ
fcis-14570	93	8	dynamic	dynamic	ADJ
fcis-14570	93	9	obstacles	obstacle	NOUN
fcis-14570	93	10	in	in	ADP
fcis-14570	93	11	the	the	DET
fcis-14570	93	12	local	local	ADJ
fcis-14570	93	13	environment	environment	NOUN
fcis-14570	93	14	,	,	PUNCT
fcis-14570	93	15	the	the	DET
fcis-14570	93	16	distance	distance	NOUN
fcis-14570	93	17	function	function	NOUN
fcis-14570	93	18	must	must	AUX
fcis-14570	93	19	be	be	AUX
fcis-14570	93	20	improved	improve	VERB
fcis-14570	93	21	at	at	ADP
fcis-14570	93	22	this	this	DET
fcis-14570	93	23	time	time	NOUN
fcis-14570	93	24	to	to	PART
fcis-14570	93	25	construct	construct	VERB
fcis-14570	93	26	a	a	DET
fcis-14570	93	27	new	new	ADJ
fcis-14570	93	28	evaluation	evaluation	NOUN
fcis-14570	93	29	method	method	NOUN
fcis-14570	93	30	that	that	PRON
fcis-14570	93	31	combines	combine	VERB
fcis-14570	93	32	turning	turn	VERB
fcis-14570	93	33	points	point	NOUN
fcis-14570	93	34	and	and	CCONJ
fcis-14570	93	35	unknown	unknown	ADJ
fcis-14570	93	36	obstacles	obstacle	NOUN
fcis-14570	93	37	.	.	PUNCT
fcis-14570	94	1	function	function	NOUN
fcis-14570	94	2	,	,	PUNCT
fcis-14570	94	3	the	the	DET
fcis-14570	94	4	new	new	ADJ
fcis-14570	94	5	evaluation	evaluation	NOUN
fcis-14570	94	6	function	function	NOUN
fcis-14570	94	7	is	be	AUX
fcis-14570	94	8	:	:	PUNCT
fcis-14570	94	9	(	(	PUNCT
fcis-14570	94	10	,	,	PUNCT
fcis-14570	94	11	)	)	PUNCT
fcis-14570	94	12	(	(	PUNCT
fcis-14570	94	13	,	,	PUNCT
fcis-14570	94	14	)	)	PUNCT
fcis-14570	94	15	(	(	PUNCT
fcis-14570	94	16	,	,	PUNCT
fcis-14570	94	17	)	)	PUNCT
fcis-14570	94	18	(	(	PUNCT
fcis-14570	94	19	,	,	PUNCT
fcis-14570	94	20	)	)	PUNCT
fcis-14570	94	21	_	_	PUNCT
fcis-14570	95	1	(	(	PUNCT
fcis-14570	95	2	,	,	PUNCT
fcis-14570	95	3	)	)	PUNCT
fcis-14570	95	4	newg	newg	PROPN
fcis-14570	95	5	v	v	NUM
fcis-14570	95	6	w	w	PROPN
fcis-14570	95	7	chead	chead	NOUN
fcis-14570	95	8	v	v	PROPN
fcis-14570	95	9	w	w	PROPN
fcis-14570	95	10	vel	vel	PROPN
fcis-14570	95	11	v	v	PROPN
fcis-14570	95	12	w	w	PROPN
fcis-14570	95	13	dist	dist	NOUN
fcis-14570	95	14	v	v	ADP
fcis-14570	95	15	w	w	PROPN
fcis-14570	95	16	dist	dist	NOUN
fcis-14570	95	17	m	m	NOUN
fcis-14570	95	18	v	v	NOUN
fcis-14570	95	19	w	w	NOUN
fcis-14570	95	20			X
fcis-14570	95	21			PROPN
fcis-14570	95	22			NUM
fcis-14570	95	23			PROPN
fcis-14570	95	24			PROPN
fcis-14570	95	25			PROPN
fcis-14570	95	26			PUNCT
fcis-14570	95	27			NUM
fcis-14570	95	28			ADJ
fcis-14570	95	29			NUM
fcis-14570	95	30			X
fcis-14570	95	31	(	(	PUNCT
fcis-14570	95	32	10	10	NUM
fcis-14570	95	33	)	)	PUNCT
fcis-14570	95	34	in	in	ADP
fcis-14570	95	35	the	the	DET
fcis-14570	95	36	formula	formula	NOUN
fcis-14570	95	37	:	:	PUNCT
fcis-14570	95	38	(	(	PUNCT
fcis-14570	95	39	,	,	PUNCT
fcis-14570	95	40	)	)	PUNCT
fcis-14570	95	41	chead	chead	NOUN
fcis-14570	95	42	v	v	NOUN
fcis-14570	95	43	w	w	NOUN
fcis-14570	95	44	is	be	AUX
fcis-14570	95	45	the	the	DET
fcis-14570	95	46	azimuth	azimuth	PROPN
fcis-14570	95	47	angle	angle	NOUN
fcis-14570	95	48	deviation	deviation	NOUN
fcis-14570	95	49	between	between	ADP
fcis-14570	95	50	the	the	DET
fcis-14570	95	51	end	end	NOUN
fcis-14570	95	52	point	point	NOUN
fcis-14570	95	53	of	of	ADP
fcis-14570	95	54	the	the	DET
fcis-14570	95	55	trajectory	trajectory	NOUN
fcis-14570	95	56	and	and	CCONJ
fcis-14570	95	57	the	the	DET
fcis-14570	95	58	current	current	ADJ
fcis-14570	95	59	key	key	ADJ
fcis-14570	95	60	turning	turning	NOUN
fcis-14570	95	61	point	point	NOUN
fcis-14570	95	62	.	.	PUNCT
fcis-14570	96	1	according	accord	VERB
fcis-14570	96	2	to	to	ADP
fcis-14570	96	3	the	the	DET
fcis-14570	96	4	sequence	sequence	NOUN
fcis-14570	96	5	of	of	ADP
fcis-14570	96	6	turning	turn	VERB
fcis-14570	96	7	points	point	NOUN
fcis-14570	96	8	,	,	PUNCT
fcis-14570	96	9	it	it	PRON
fcis-14570	96	10	guides	guide	VERB
fcis-14570	96	11	the	the	DET
fcis-14570	96	12	robot	robot	NOUN
fcis-14570	96	13	to	to	PART
fcis-14570	96	14	move	move	VERB
fcis-14570	96	15	to	to	ADP
fcis-14570	96	16	the	the	DET
fcis-14570	96	17	final	final	ADJ
fcis-14570	96	18	target	target	NOUN
fcis-14570	96	19	point	point	NOUN
fcis-14570	96	20	.	.	PUNCT
fcis-14570	97	1	5	5	X
fcis-14570	97	2	.	.	X
fcis-14570	97	3	experimental	experimental	ADJ
fcis-14570	97	4	simulation	simulation	PROPN
fcis-14570	97	5	5.1	5.1	NUM
fcis-14570	97	6	.	.	PUNCT
fcis-14570	97	7	improved	improve	VERB
fcis-14570	97	8	a	a	DET
fcis-14570	97	9	*	*	PUNCT
fcis-14570	97	10	algorithm	algorithm	NOUN
fcis-14570	97	11	simulation	simulation	NOUN
fcis-14570	97	12	analysis	analysis	NOUN
fcis-14570	97	13	(	(	PUNCT
fcis-14570	97	14	a	a	X
fcis-14570	97	15	)	)	PUNCT
fcis-14570	97	16	20	20	NUM
fcis-14570	97	17	*	*	SYM
fcis-14570	97	18	20	20	NUM
fcis-14570	97	19	map	map	NOUN
fcis-14570	97	20	environment	environment	NOUN
fcis-14570	97	21	(	(	PUNCT
fcis-14570	97	22	b	b	NOUN
fcis-14570	97	23	)	)	PUNCT
fcis-14570	97	24	30	30	NUM
fcis-14570	97	25	*	*	SYM
fcis-14570	97	26	30	30	NUM
fcis-14570	97	27	map	map	NOUN
fcis-14570	97	28	environment	environment	NOUN
fcis-14570	97	29	(	(	PUNCT
fcis-14570	97	30	c	c	NOUN
fcis-14570	97	31	)	)	PUNCT
fcis-14570	97	32	45	45	NUM
fcis-14570	97	33	*	*	SYM
fcis-14570	97	34	45	45	NUM
fcis-14570	97	35	map	map	NOUN
fcis-14570	97	36	environment	environment	NOUN
fcis-14570	97	37	figure	figure	NOUN
fcis-14570	97	38	5	5	NUM
fcis-14570	97	39	.	.	PUNCT
fcis-14570	97	40	comparison	comparison	NOUN
fcis-14570	97	41	of	of	ADP
fcis-14570	97	42	path	path	NOUN
fcis-14570	97	43	simulation	simulation	NOUN
fcis-14570	97	44	in	in	ADP
fcis-14570	97	45	different	different	ADJ
fcis-14570	97	46	map	map	NOUN
fcis-14570	97	47	environments	environment	NOUN
fcis-14570	97	48	40	40	NUM
fcis-14570	97	49	in	in	ADP
fcis-14570	97	50	order	order	NOUN
fcis-14570	97	51	to	to	PART
fcis-14570	97	52	verify	verify	VERB
fcis-14570	97	53	the	the	DET
fcis-14570	97	54	accuracy	accuracy	NOUN
fcis-14570	97	55	and	and	CCONJ
fcis-14570	97	56	effectiveness	effectiveness	NOUN
fcis-14570	97	57	of	of	ADP
fcis-14570	97	58	the	the	DET
fcis-14570	97	59	global	global	ADJ
fcis-14570	97	60	path	path	PROPN
fcis-14570	97	61	planning	planning	NOUN
fcis-14570	97	62	algorithm	algorithm	NOUN
fcis-14570	97	63	of	of	ADP
fcis-14570	97	64	the	the	DET
fcis-14570	97	65	improved	improved	ADJ
fcis-14570	97	66	a	a	DET
fcis-14570	97	67	-	-	PUNCT
fcis-14570	97	68	star	star	NOUN
fcis-14570	97	69	algorithm	algorithm	NOUN
fcis-14570	97	70	,	,	PUNCT
fcis-14570	97	71	this	this	DET
fcis-14570	97	72	article	article	NOUN
fcis-14570	97	73	constructed	construct	VERB
fcis-14570	97	74	three	three	NUM
fcis-14570	97	75	different	different	ADJ
fcis-14570	97	76	map	map	NOUN
fcis-14570	97	77	environments	environment	NOUN
fcis-14570	97	78	of	of	ADP
fcis-14570	97	79	20	20	NUM
fcis-14570	97	80	*	*	SYM
fcis-14570	97	81	20	20	NUM
fcis-14570	97	82	,	,	PUNCT
fcis-14570	97	83	30	30	NUM
fcis-14570	97	84	*	*	SYM
fcis-14570	97	85	30	30	NUM
fcis-14570	97	86	,	,	PUNCT
fcis-14570	97	87	and	and	CCONJ
fcis-14570	97	88	45	45	NUM
fcis-14570	97	89	*	*	NUM
fcis-14570	97	90	45	45	NUM
fcis-14570	97	91	for	for	ADP
fcis-14570	97	92	simulation	simulation	NOUN
fcis-14570	97	93	testing	testing	NOUN
fcis-14570	97	94	.	.	PUNCT
fcis-14570	98	1	the	the	DET
fcis-14570	98	2	simulation	simulation	NOUN
fcis-14570	98	3	experimental	experimental	ADJ
fcis-14570	98	4	environment	environment	NOUN
fcis-14570	98	5	is	be	AUX
fcis-14570	98	6	matlab	matlab	PROPN
fcis-14570	98	7	2018b	2018b	NUM
fcis-14570	98	8	.	.	PUNCT
fcis-14570	99	1	the	the	DET
fcis-14570	99	2	blue	blue	ADJ
fcis-14570	99	3	triangle	triangle	NOUN
fcis-14570	99	4	represents	represent	VERB
fcis-14570	99	5	the	the	DET
fcis-14570	99	6	starting	starting	NOUN
fcis-14570	99	7	point	point	NOUN
fcis-14570	99	8	,	,	PUNCT
fcis-14570	99	9	the	the	DET
fcis-14570	99	10	green	green	ADJ
fcis-14570	99	11	circle	circle	NOUN
fcis-14570	99	12	represents	represent	VERB
fcis-14570	99	13	the	the	DET
fcis-14570	99	14	target	target	NOUN
fcis-14570	99	15	point	point	NOUN
fcis-14570	99	16	,	,	PUNCT
fcis-14570	99	17	and	and	CCONJ
fcis-14570	99	18	the	the	DET
fcis-14570	99	19	gray	gray	ADJ
fcis-14570	99	20	grid	grid	NOUN
fcis-14570	99	21	represents	represent	VERB
fcis-14570	99	22	the	the	DET
fcis-14570	99	23	searched	search	VERB
fcis-14570	99	24	grid	grid	NOUN
fcis-14570	99	25	during	during	ADP
fcis-14570	99	26	the	the	DET
fcis-14570	99	27	path	path	NOUN
fcis-14570	99	28	search	search	NOUN
fcis-14570	99	29	process	process	NOUN
fcis-14570	99	30	.	.	PUNCT
fcis-14570	100	1	the	the	DET
fcis-14570	100	2	experimental	experimental	ADJ
fcis-14570	100	3	results	result	NOUN
fcis-14570	100	4	are	be	AUX
fcis-14570	100	5	shown	show	VERB
fcis-14570	100	6	in	in	ADP
fcis-14570	100	7	figure	figure	NOUN
fcis-14570	100	8	5	5	NUM
fcis-14570	100	9	,	,	PUNCT
fcis-14570	100	10	and	and	CCONJ
fcis-14570	100	11	the	the	DET
fcis-14570	100	12	performance	performance	NOUN
fcis-14570	100	13	indicators	indicator	NOUN
fcis-14570	100	14	of	of	ADP
fcis-14570	100	15	the	the	DET
fcis-14570	100	16	algorithm	algorithm	NOUN
fcis-14570	100	17	are	be	AUX
fcis-14570	100	18	shown	show	VERB
fcis-14570	100	19	in	in	ADP
fcis-14570	100	20	table	table	NOUN
fcis-14570	100	21	1	1	NUM
fcis-14570	100	22	.	.	PUNCT
fcis-14570	100	23	from	from	ADP
fcis-14570	100	24	the	the	DET
fcis-14570	100	25	simulation	simulation	NOUN
fcis-14570	100	26	results	result	VERB
fcis-14570	100	27	in	in	ADP
fcis-14570	100	28	figure	figure	NOUN
fcis-14570	100	29	5	5	NUM
fcis-14570	100	30	,	,	PUNCT
fcis-14570	100	31	it	it	PRON
fcis-14570	100	32	can	can	AUX
fcis-14570	100	33	be	be	AUX
fcis-14570	100	34	clearly	clearly	ADV
fcis-14570	100	35	seen	see	VERB
fcis-14570	100	36	that	that	SCONJ
fcis-14570	100	37	in	in	ADP
fcis-14570	100	38	each	each	DET
fcis-14570	100	39	different	different	ADJ
fcis-14570	100	40	grid	grid	NOUN
fcis-14570	100	41	map	map	NOUN
fcis-14570	100	42	,	,	PUNCT
fcis-14570	100	43	the	the	DET
fcis-14570	100	44	traditional	traditional	ADJ
fcis-14570	100	45	a	a	PRON
fcis-14570	100	46	*	*	ADJ
fcis-14570	100	47	algorithm	algorithm	NOUN
fcis-14570	100	48	has	have	VERB
fcis-14570	100	49	many	many	ADJ
fcis-14570	100	50	turning	turning	NOUN
fcis-14570	100	51	points	point	NOUN
fcis-14570	100	52	,	,	PUNCT
fcis-14570	100	53	and	and	CCONJ
fcis-14570	100	54	there	there	PRON
fcis-14570	100	55	are	be	VERB
fcis-14570	100	56	situations	situation	NOUN
fcis-14570	100	57	where	where	SCONJ
fcis-14570	100	58	it	it	PRON
fcis-14570	100	59	passes	pass	VERB
fcis-14570	100	60	directly	directly	ADV
fcis-14570	100	61	through	through	ADP
fcis-14570	100	62	the	the	DET
fcis-14570	100	63	middle	middle	NOUN
fcis-14570	100	64	of	of	ADP
fcis-14570	100	65	the	the	DET
fcis-14570	100	66	obstacle	obstacle	NOUN
fcis-14570	100	67	,	,	PUNCT
fcis-14570	100	68	or	or	CCONJ
fcis-14570	100	69	collides	collide	VERB
fcis-14570	100	70	with	with	ADP
fcis-14570	100	71	the	the	DET
fcis-14570	100	72	edge	edge	NOUN
fcis-14570	100	73	.	.	PUNCT
fcis-14570	101	1	during	during	ADP
fcis-14570	101	2	the	the	DET
fcis-14570	101	3	search	search	NOUN
fcis-14570	101	4	process	process	NOUN
fcis-14570	101	5	,	,	PUNCT
fcis-14570	101	6	a	a	DET
fcis-14570	101	7	large	large	ADJ
fcis-14570	101	8	number	number	NOUN
fcis-14570	101	9	of	of	ADP
fcis-14570	101	10	nodes	node	NOUN
fcis-14570	101	11	were	be	AUX
fcis-14570	101	12	also	also	ADV
fcis-14570	101	13	expanded	expand	VERB
fcis-14570	101	14	.	.	PUNCT
fcis-14570	102	1	in	in	ADP
fcis-14570	102	2	the	the	DET
fcis-14570	102	3	improved	improved	ADJ
fcis-14570	102	4	a	a	DET
fcis-14570	102	5	*	*	ADJ
fcis-14570	102	6	algorithm	algorithm	NOUN
fcis-14570	102	7	,	,	PUNCT
fcis-14570	102	8	the	the	DET
fcis-14570	102	9	path	path	NOUN
fcis-14570	102	10	is	be	AUX
fcis-14570	102	11	smoother	smooth	ADJ
fcis-14570	102	12	than	than	ADP
fcis-14570	102	13	the	the	DET
fcis-14570	102	14	traditional	traditional	ADJ
fcis-14570	102	15	a	a	NOUN
fcis-14570	102	16	*	*	X
fcis-14570	102	17	,	,	PUNCT
fcis-14570	102	18	and	and	CCONJ
fcis-14570	102	19	at	at	ADP
fcis-14570	102	20	the	the	DET
fcis-14570	102	21	same	same	ADJ
fcis-14570	102	22	time	time	NOUN
fcis-14570	102	23	,	,	PUNCT
fcis-14570	102	24	under	under	ADP
fcis-14570	102	25	the	the	DET
fcis-14570	102	26	constraint	constraint	NOUN
fcis-14570	102	27	of	of	ADP
fcis-14570	102	28	a	a	DET
fcis-14570	102	29	safe	safe	ADJ
fcis-14570	102	30	distance	distance	NOUN
fcis-14570	102	31	,	,	PUNCT
fcis-14570	102	32	the	the	DET
fcis-14570	102	33	risk	risk	NOUN
fcis-14570	102	34	of	of	ADP
fcis-14570	102	35	collision	collision	NOUN
fcis-14570	102	36	with	with	ADP
fcis-14570	102	37	obstacles	obstacle	NOUN
fcis-14570	102	38	is	be	AUX
fcis-14570	102	39	avoided	avoid	VERB
fcis-14570	102	40	.	.	PUNCT
fcis-14570	103	1	from	from	ADP
fcis-14570	103	2	the	the	DET
fcis-14570	103	3	data	datum	NOUN
fcis-14570	103	4	in	in	ADP
fcis-14570	103	5	table	table	NOUN
fcis-14570	103	6	1	1	NUM
fcis-14570	103	7	,	,	PUNCT
fcis-14570	103	8	we	we	PRON
fcis-14570	103	9	can	can	AUX
fcis-14570	103	10	see	see	VERB
fcis-14570	103	11	that	that	SCONJ
fcis-14570	103	12	in	in	ADP
fcis-14570	103	13	the	the	DET
fcis-14570	103	14	20	20	NUM
fcis-14570	103	15	*	*	SYM
fcis-14570	103	16	20	20	NUM
fcis-14570	103	17	map	map	NOUN
fcis-14570	103	18	,	,	PUNCT
fcis-14570	103	19	the	the	DET
fcis-14570	103	20	path	path	NOUN
fcis-14570	103	21	length	length	NOUN
fcis-14570	103	22	and	and	CCONJ
fcis-14570	103	23	the	the	DET
fcis-14570	103	24	number	number	NOUN
fcis-14570	103	25	of	of	ADP
fcis-14570	103	26	turns	turn	NOUN
fcis-14570	103	27	are	be	AUX
fcis-14570	103	28	roughly	roughly	ADV
fcis-14570	103	29	the	the	DET
fcis-14570	103	30	same	same	ADJ
fcis-14570	103	31	,	,	PUNCT
fcis-14570	103	32	but	but	CCONJ
fcis-14570	103	33	in	in	ADP
fcis-14570	103	34	the	the	DET
fcis-14570	103	35	path	path	NOUN
fcis-14570	103	36	planning	planning	NOUN
fcis-14570	103	37	process	process	NOUN
fcis-14570	103	38	,	,	PUNCT
fcis-14570	103	39	compared	compare	VERB
fcis-14570	103	40	with	with	ADP
fcis-14570	103	41	the	the	DET
fcis-14570	103	42	traditional	traditional	ADJ
fcis-14570	103	43	a	a	PRON
fcis-14570	103	44	*	*	ADJ
fcis-14570	103	45	algorithm	algorithm	NOUN
fcis-14570	103	46	,	,	PUNCT
fcis-14570	103	47	the	the	DET
fcis-14570	103	48	improved	improved	ADJ
fcis-14570	103	49	a	a	PRON
fcis-14570	103	50	*	*	PUNCT
fcis-14570	103	51	reduces	reduce	VERB
fcis-14570	103	52	the	the	DET
fcis-14570	103	53	number	number	NOUN
fcis-14570	103	54	of	of	ADP
fcis-14570	103	55	nodes	node	NOUN
fcis-14570	103	56	by	by	ADP
fcis-14570	103	57	42.14	42.14	NUM
fcis-14570	103	58	%	%	NOUN
fcis-14570	103	59	,	,	PUNCT
fcis-14570	103	60	and	and	CCONJ
fcis-14570	103	61	the	the	DET
fcis-14570	103	62	path	path	NOUN
fcis-14570	103	63	number	number	NOUN
fcis-14570	103	64	is	be	AUX
fcis-14570	103	65	reduced	reduce	VERB
fcis-14570	103	66	by	by	ADP
fcis-14570	103	67	42.14	42.14	NUM
fcis-14570	103	68	%	%	NOUN
fcis-14570	103	69	.	.	PUNCT
fcis-14570	104	1	the	the	DET
fcis-14570	104	2	security	security	NOUN
fcis-14570	104	3	has	have	AUX
fcis-14570	104	4	also	also	ADV
fcis-14570	104	5	been	be	AUX
fcis-14570	104	6	improved	improve	VERB
fcis-14570	104	7	.	.	PUNCT
fcis-14570	105	1	in	in	ADP
fcis-14570	105	2	the	the	DET
fcis-14570	105	3	30	30	NUM
fcis-14570	105	4	*	*	SYM
fcis-14570	105	5	30	30	NUM
fcis-14570	105	6	map	map	NOUN
fcis-14570	105	7	environment	environment	NOUN
fcis-14570	105	8	,	,	PUNCT
fcis-14570	105	9	the	the	DET
fcis-14570	105	10	number	number	NOUN
fcis-14570	105	11	of	of	ADP
fcis-14570	105	12	nodes	node	NOUN
fcis-14570	105	13	is	be	AUX
fcis-14570	105	14	reduced	reduce	VERB
fcis-14570	105	15	by	by	ADP
fcis-14570	105	16	56.68	56.68	NUM
fcis-14570	105	17	%	%	NOUN
fcis-14570	105	18	,	,	PUNCT
fcis-14570	105	19	and	and	CCONJ
fcis-14570	105	20	the	the	DET
fcis-14570	105	21	number	number	NOUN
fcis-14570	105	22	of	of	ADP
fcis-14570	105	23	time	time	NOUN
fcis-14570	105	24	turns	turn	NOUN
fcis-14570	105	25	is	be	AUX
fcis-14570	105	26	reduced	reduce	VERB
fcis-14570	105	27	by	by	ADP
fcis-14570	105	28	3	3	NUM
fcis-14570	105	29	times	time	NOUN
fcis-14570	105	30	.	.	PUNCT
fcis-14570	106	1	in	in	ADP
fcis-14570	106	2	the	the	DET
fcis-14570	106	3	45	45	NUM
fcis-14570	106	4	*	*	SYM
fcis-14570	106	5	45	45	NUM
fcis-14570	106	6	map	map	NOUN
fcis-14570	106	7	environment	environment	NOUN
fcis-14570	106	8	,	,	PUNCT
fcis-14570	106	9	with	with	ADP
fcis-14570	106	10	the	the	DET
fcis-14570	106	11	addition	addition	NOUN
fcis-14570	106	12	of	of	ADP
fcis-14570	106	13	the	the	DET
fcis-14570	106	14	obstacle	obstacle	NOUN
fcis-14570	106	15	coefficient	coefficient	NOUN
fcis-14570	106	16	,	,	PUNCT
fcis-14570	106	17	the	the	DET
fcis-14570	106	18	number	number	NOUN
fcis-14570	106	19	of	of	ADP
fcis-14570	106	20	nodes	node	NOUN
fcis-14570	106	21	is	be	AUX
fcis-14570	106	22	reduced	reduce	VERB
fcis-14570	106	23	.	.	PUNCT
fcis-14570	107	1	65.16	65.16	NUM
fcis-14570	107	2	%	%	NOUN
fcis-14570	107	3	,	,	PUNCT
fcis-14570	107	4	the	the	DET
fcis-14570	107	5	number	number	NOUN
fcis-14570	107	6	of	of	ADP
fcis-14570	107	7	turns	turn	NOUN
fcis-14570	107	8	is	be	AUX
fcis-14570	107	9	reduced	reduce	VERB
fcis-14570	107	10	by	by	ADP
fcis-14570	107	11	8	8	NUM
fcis-14570	107	12	times	time	NOUN
fcis-14570	107	13	,	,	PUNCT
fcis-14570	107	14	the	the	DET
fcis-14570	107	15	path	path	NOUN
fcis-14570	107	16	is	be	AUX
fcis-14570	107	17	still	still	ADV
fcis-14570	107	18	safe	safe	ADJ
fcis-14570	107	19	at	at	ADP
fcis-14570	107	20	this	this	DET
fcis-14570	107	21	time	time	NOUN
fcis-14570	107	22	,	,	PUNCT
fcis-14570	107	23	and	and	CCONJ
fcis-14570	107	24	the	the	DET
fcis-14570	107	25	length	length	NOUN
fcis-14570	107	26	of	of	ADP
fcis-14570	107	27	the	the	DET
fcis-14570	107	28	path	path	NOUN
fcis-14570	107	29	is	be	AUX
fcis-14570	107	30	reduced	reduce	VERB
fcis-14570	107	31	by	by	ADP
fcis-14570	107	32	3.1	3.1	NUM
fcis-14570	107	33	%	%	NOUN
fcis-14570	107	34	,	,	PUNCT
fcis-14570	107	35	indicating	indicate	VERB
fcis-14570	107	36	that	that	SCONJ
fcis-14570	107	37	the	the	DET
fcis-14570	107	38	improved	improved	ADJ
fcis-14570	107	39	a	a	PRON
fcis-14570	107	40	*	*	ADJ
fcis-14570	107	41	algorithm	algorithm	NOUN
fcis-14570	107	42	still	still	ADV
fcis-14570	107	43	has	have	VERB
fcis-14570	107	44	good	good	ADJ
fcis-14570	107	45	adaptability	adaptability	NOUN
fcis-14570	107	46	to	to	ADP
fcis-14570	107	47	complex	complex	ADJ
fcis-14570	107	48	maps	map	NOUN
fcis-14570	107	49	.	.	PUNCT
fcis-14570	108	1	table	table	NOUN
fcis-14570	108	2	1	1	NUM
fcis-14570	108	3	.	.	PUNCT
fcis-14570	108	4	comparison	comparison	NOUN
fcis-14570	108	5	of	of	ADP
fcis-14570	108	6	path	path	NOUN
fcis-14570	108	7	planning	planning	NOUN
fcis-14570	108	8	simulation	simulation	NOUN
fcis-14570	108	9	results	result	VERB
fcis-14570	108	10	under	under	ADP
fcis-14570	108	11	different	different	ADJ
fcis-14570	108	12	map	map	NOUN
fcis-14570	108	13	environments	environment	NOUN
fcis-14570	108	14	map	map	NOUN
fcis-14570	108	15	type	type	NOUN
fcis-14570	108	16	algorithm	algorithm	NOUN
fcis-14570	108	17	type	type	NOUN
fcis-14570	108	18	path	path	NOUN
fcis-14570	108	19	length	length	NOUN
fcis-14570	108	20	/	/	SYM
fcis-14570	109	1	m	m	NOUN
fcis-14570	109	2	number	number	NOUN
fcis-14570	109	3	of	of	ADP
fcis-14570	109	4	nodes	node	NOUN
fcis-14570	109	5	/	/	SYM
fcis-14570	109	6	node	node	ADJ
fcis-14570	109	7	number	number	NOUN
fcis-14570	109	8	of	of	ADP
fcis-14570	109	9	turns	turn	VERB
fcis-14570	109	10	20	20	NUM
fcis-14570	109	11	*	*	SYM
fcis-14570	109	12	20	20	NUM
fcis-14570	109	13	traditional	traditional	ADJ
fcis-14570	109	14	a	a	DET
fcis-14570	109	15	*	*	SYM
fcis-14570	109	16	21.97	21.97	NUM
fcis-14570	109	17	121	121	NUM
fcis-14570	109	18	6	6	NUM
fcis-14570	109	19	improve	improve	VERB
fcis-14570	109	20	a	a	DET
fcis-14570	109	21	*	*	NUM
fcis-14570	109	22	21.71	21.71	NUM
fcis-14570	109	23	70	70	NUM
fcis-14570	109	24	5	5	NUM
fcis-14570	109	25	30	30	NUM
fcis-14570	109	26	*	*	SYM
fcis-14570	109	27	30	30	NUM
fcis-14570	109	28	traditional	traditional	ADJ
fcis-14570	109	29	a	a	DET
fcis-14570	109	30	*	*	SYM
fcis-14570	109	31	38.11	38.11	NUM
fcis-14570	109	32	277	277	NUM
fcis-14570	109	33	8	8	NUM
fcis-14570	109	34	improve	improve	VERB
fcis-14570	109	35	a	a	DET
fcis-14570	109	36	*	*	NUM
fcis-14570	109	37	37.27	37.27	NUM
fcis-14570	109	38	120	120	NUM
fcis-14570	109	39	5	5	NUM
fcis-14570	109	40	45	45	NUM
fcis-14570	109	41	*	*	SYM
fcis-14570	109	42	45	45	NUM
fcis-14570	109	43	traditional	traditional	ADJ
fcis-14570	109	44	a	a	DET
fcis-14570	109	45	*	*	SYM
fcis-14570	109	46	49.18	49.18	NUM
fcis-14570	109	47	442	442	NUM
fcis-14570	109	48	14	14	NUM
fcis-14570	109	49	improve	improve	VERB
fcis-14570	109	50	a	a	DET
fcis-14570	109	51	*	*	NUM
fcis-14570	109	52	47.66	47.66	NUM
fcis-14570	109	53	154	154	NUM
fcis-14570	109	54	6	6	NUM
fcis-14570	109	55	5.2	5.2	NUM
fcis-14570	109	56	.	.	PUNCT
fcis-14570	110	1	simulation	simulation	NOUN
fcis-14570	110	2	experiment	experiment	NOUN
fcis-14570	110	3	of	of	ADP
fcis-14570	110	4	the	the	DET
fcis-14570	110	5	fusion	fusion	NOUN
fcis-14570	110	6	algorithm	algorithm	NOUN
fcis-14570	110	7	figure	figure	NOUN
fcis-14570	110	8	6	6	NUM
fcis-14570	110	9	.	.	PUNCT
fcis-14570	111	1	simulation	simulation	NOUN
fcis-14570	111	2	of	of	ADP
fcis-14570	111	3	two	two	NUM
fcis-14570	111	4	fusion	fusion	NOUN
fcis-14570	111	5	algorithms	algorithm	NOUN
fcis-14570	111	6	in	in	ADP
fcis-14570	111	7	order	order	NOUN
fcis-14570	111	8	to	to	PART
fcis-14570	111	9	verify	verify	VERB
fcis-14570	111	10	the	the	DET
fcis-14570	111	11	adaptability	adaptability	NOUN
fcis-14570	111	12	of	of	ADP
fcis-14570	111	13	the	the	DET
fcis-14570	111	14	hybrid	hybrid	ADJ
fcis-14570	111	15	algorithm	algorithm	NOUN
fcis-14570	111	16	,	,	PUNCT
fcis-14570	111	17	a	a	DET
fcis-14570	111	18	simulation	simulation	NOUN
fcis-14570	111	19	experiment	experiment	NOUN
fcis-14570	111	20	was	be	AUX
fcis-14570	111	21	conducted	conduct	VERB
fcis-14570	111	22	on	on	ADP
fcis-14570	111	23	a	a	DET
fcis-14570	111	24	20	20	NUM
fcis-14570	111	25	*	*	SYM
fcis-14570	111	26	20	20	NUM
fcis-14570	111	27	map	map	NOUN
fcis-14570	111	28	.	.	PUNCT
fcis-14570	112	1	there	there	PRON
fcis-14570	112	2	is	be	VERB
fcis-14570	112	3	one	one	NUM
fcis-14570	112	4	dynamic	dynamic	ADJ
fcis-14570	112	5	obstacle	obstacle	NOUN
fcis-14570	112	6	and	and	CCONJ
fcis-14570	112	7	two	two	NUM
fcis-14570	112	8	static	static	ADJ
fcis-14570	112	9	obstacles	obstacle	NOUN
fcis-14570	112	10	in	in	ADP
fcis-14570	112	11	the	the	DET
fcis-14570	112	12	map	map	NOUN
fcis-14570	112	13	environment	environment	NOUN
fcis-14570	112	14	.	.	PUNCT
fcis-14570	113	1	the	the	DET
fcis-14570	113	2	orange	orange	PROPN
fcis-14570	113	3	square	square	PROPN
fcis-14570	113	4	represents	represent	VERB
fcis-14570	113	5	the	the	DET
fcis-14570	113	6	dynamic	dynamic	ADJ
fcis-14570	113	7	obstacle	obstacle	NOUN
fcis-14570	113	8	and	and	CCONJ
fcis-14570	113	9	the	the	DET
fcis-14570	113	10	gray	gray	NOUN
fcis-14570	113	11	represents	represent	VERB
fcis-14570	113	12	the	the	DET
fcis-14570	113	13	static	static	ADJ
fcis-14570	113	14	unknown	unknown	ADJ
fcis-14570	113	15	obstacle	obstacle	NOUN
fcis-14570	113	16	.	.	PUNCT
fcis-14570	114	1	start	start	VERB
fcis-14570	114	2	represents	represent	VERB
fcis-14570	114	3	the	the	DET
fcis-14570	114	4	starting	starting	NOUN
fcis-14570	114	5	point	point	NOUN
fcis-14570	114	6	,	,	PUNCT
fcis-14570	114	7	goal	goal	NOUN
fcis-14570	114	8	represents	represent	VERB
fcis-14570	114	9	the	the	DET
fcis-14570	114	10	target	target	NOUN
fcis-14570	114	11	point	point	NOUN
fcis-14570	114	12	,	,	PUNCT
fcis-14570	114	13	and	and	CCONJ
fcis-14570	114	14	the	the	DET
fcis-14570	114	15	dotted	dotted	ADJ
fcis-14570	114	16	line	line	NOUN
fcis-14570	114	17	represents	represent	VERB
fcis-14570	114	18	the	the	DET
fcis-14570	114	19	global	global	ADJ
fcis-14570	114	20	path	path	PROPN
fcis-14570	114	21	planning	planning	NOUN
fcis-14570	114	22	of	of	ADP
fcis-14570	114	23	improved	improve	VERB
fcis-14570	114	24	a	a	DET
fcis-14570	114	25	*	*	NOUN
fcis-14570	114	26	.	.	PUNCT
fcis-14570	115	1	the	the	DET
fcis-14570	115	2	paths	path	NOUN
fcis-14570	115	3	of	of	ADP
fcis-14570	115	4	the	the	DET
fcis-14570	115	5	two	two	NUM
fcis-14570	115	6	fusion	fusion	NOUN
fcis-14570	115	7	algorithms	algorithm	NOUN
fcis-14570	115	8	are	be	AUX
fcis-14570	115	9	shown	show	VERB
fcis-14570	115	10	in	in	ADP
fcis-14570	115	11	figure	figure	NOUN
fcis-14570	115	12	6	6	NUM
fcis-14570	115	13	.	.	PUNCT
fcis-14570	116	1	in	in	ADP
fcis-14570	116	2	figure	figure	NOUN
fcis-14570	116	3	6a	6a	NOUN
fcis-14570	116	4	,	,	PUNCT
fcis-14570	116	5	in	in	ADP
fcis-14570	116	6	the	the	DET
fcis-14570	116	7	traditional	traditional	ADJ
fcis-14570	116	8	dwa	dwa	PROPN
fcis-14570	116	9	algorithm	algorithm	NOUN
fcis-14570	116	10	,	,	PUNCT
fcis-14570	116	11	the	the	DET
fcis-14570	116	12	final	final	ADJ
fcis-14570	116	13	target	target	NOUN
fcis-14570	116	14	point	point	NOUN
fcis-14570	116	15	is	be	AUX
fcis-14570	116	16	regarded	regard	VERB
fcis-14570	116	17	as	as	ADP
fcis-14570	116	18	a	a	DET
fcis-14570	116	19	single	single	ADJ
fcis-14570	116	20	target	target	NOUN
fcis-14570	116	21	point	point	NOUN
fcis-14570	116	22	.	.	PUNCT
fcis-14570	117	1	in	in	ADP
fcis-14570	117	2	an	an	DET
fcis-14570	117	3	environment	environment	NOUN
fcis-14570	117	4	with	with	ADP
fcis-14570	117	5	many	many	ADJ
fcis-14570	117	6	obstacles	obstacle	NOUN
fcis-14570	117	7	and	and	CCONJ
fcis-14570	117	8	dynamic	dynamic	ADJ
fcis-14570	117	9	obstacles	obstacle	NOUN
fcis-14570	117	10	,	,	PUNCT
fcis-14570	117	11	the	the	DET
fcis-14570	117	12	final	final	ADJ
fcis-14570	117	13	result	result	NOUN
fcis-14570	117	14	is	be	AUX
fcis-14570	117	15	shown	show	VERB
fcis-14570	117	16	in	in	ADP
fcis-14570	117	17	figure	figure	NOUN
fcis-14570	117	18	6(b	6(b	NUM
fcis-14570	117	19	)	)	PUNCT
fcis-14570	117	20	,	,	PUNCT
fcis-14570	117	21	falling	fall	VERB
fcis-14570	117	22	into	into	ADP
fcis-14570	117	23	a	a	DET
fcis-14570	117	24	local	local	ADJ
fcis-14570	117	25	optimal	optimal	ADJ
fcis-14570	117	26	,	,	PUNCT
fcis-14570	117	27	causing	cause	VERB
fcis-14570	117	28	path	path	NOUN
fcis-14570	117	29	planning	planning	NOUN
fcis-14570	117	30	to	to	PART
fcis-14570	117	31	fail	fail	VERB
fcis-14570	117	32	.	.	PUNCT
fcis-14570	118	1	in	in	ADP
fcis-14570	118	2	figure	figure	NOUN
fcis-14570	118	3	6b	6b	NOUN
fcis-14570	118	4	,	,	PUNCT
fcis-14570	118	5	the	the	DET
fcis-14570	118	6	red	red	ADJ
fcis-14570	118	7	‘	'	PUNCT
fcis-14570	118	8	*	*	NOUN
fcis-14570	118	9	’	'	PUNCT
fcis-14570	118	10	in	in	ADP
fcis-14570	118	11	the	the	DET
fcis-14570	118	12	global	global	ADJ
fcis-14570	118	13	path	path	NOUN
fcis-14570	118	14	represents	represent	VERB
fcis-14570	118	15	the	the	DET
fcis-14570	118	16	reserved	reserved	ADJ
fcis-14570	118	17	path	path	NOUN
fcis-14570	118	18	turning	turning	NOUN
fcis-14570	118	19	points	point	NOUN
fcis-14570	118	20	.	.	PUNCT
fcis-14570	119	1	according	accord	VERB
fcis-14570	119	2	to	to	ADP
fcis-14570	119	3	the	the	DET
fcis-14570	119	4	order	order	NOUN
fcis-14570	119	5	of	of	ADP
fcis-14570	119	6	turning	turn	VERB
fcis-14570	119	7	points	point	NOUN
fcis-14570	119	8	,	,	PUNCT
fcis-14570	119	9	the	the	DET
fcis-14570	119	10	robot	robot	NOUN
fcis-14570	119	11	is	be	AUX
fcis-14570	119	12	guided	guide	VERB
fcis-14570	119	13	to	to	PART
fcis-14570	119	14	move	move	VERB
fcis-14570	119	15	to	to	ADP
fcis-14570	119	16	the	the	DET
fcis-14570	119	17	final	final	ADJ
fcis-14570	119	18	target	target	NOUN
fcis-14570	119	19	point	point	NOUN
fcis-14570	119	20	.	.	PUNCT
fcis-14570	120	1	by	by	ADP
fcis-14570	120	2	adding	add	VERB
fcis-14570	120	3	the	the	DET
fcis-14570	120	4	guidance	guidance	NOUN
fcis-14570	120	5	of	of	ADP
fcis-14570	120	6	key	key	ADJ
fcis-14570	120	7	nodes	node	NOUN
fcis-14570	120	8	,	,	PUNCT
fcis-14570	120	9	under	under	ADP
fcis-14570	120	10	the	the	DET
fcis-14570	120	11	fusion	fusion	NOUN
fcis-14570	120	12	algorithm	algorithm	NOUN
fcis-14570	120	13	in	in	ADP
fcis-14570	120	14	figure	figure	NOUN
fcis-14570	120	15	6d	6d	NUM
fcis-14570	120	16	,	,	PUNCT
fcis-14570	120	17	the	the	DET
fcis-14570	120	18	robot	robot	NOUN
fcis-14570	120	19	's	's	PART
fcis-14570	120	20	path	path	NOUN
fcis-14570	120	21	is	be	AUX
fcis-14570	120	22	effective	effective	ADJ
fcis-14570	120	23	.	.	PUNCT
fcis-14570	121	1	it	it	PRON
fcis-14570	121	2	avoids	avoid	VERB
fcis-14570	121	3	dynamic	dynamic	ADJ
fcis-14570	121	4	obstacles	obstacle	NOUN
fcis-14570	121	5	and	and	CCONJ
fcis-14570	121	6	static	static	ADJ
fcis-14570	121	7	unknown	unknown	ADJ
fcis-14570	121	8	obstacles	obstacle	NOUN
fcis-14570	121	9	,	,	PUNCT
fcis-14570	121	10	and	and	CCONJ
fcis-14570	121	11	avoids	avoid	VERB
fcis-14570	121	12	41	41	NUM
fcis-14570	121	13	falling	fall	VERB
fcis-14570	121	14	into	into	ADP
fcis-14570	121	15	local	local	ADJ
fcis-14570	121	16	optimality	optimality	NOUN
fcis-14570	121	17	when	when	SCONJ
fcis-14570	121	18	avoiding	avoid	VERB
fcis-14570	121	19	dynamic	dynamic	ADJ
fcis-14570	121	20	obstacles	obstacle	NOUN
fcis-14570	121	21	.	.	PUNCT
fcis-14570	122	1	moreover	moreover	ADV
fcis-14570	122	2	,	,	PUNCT
fcis-14570	122	3	compared	compare	VERB
fcis-14570	122	4	with	with	ADP
fcis-14570	122	5	the	the	DET
fcis-14570	122	6	global	global	ADJ
fcis-14570	122	7	path	path	NOUN
fcis-14570	122	8	,	,	PUNCT
fcis-14570	122	9	the	the	DET
fcis-14570	122	10	path	path	NOUN
fcis-14570	122	11	is	be	AUX
fcis-14570	122	12	smoother	smooth	ADJ
fcis-14570	122	13	,	,	PUNCT
fcis-14570	122	14	completing	complete	VERB
fcis-14570	122	15	path	path	NOUN
fcis-14570	122	16	planning	planning	NOUN
fcis-14570	122	17	.	.	PUNCT
fcis-14570	123	1	6	6	X
fcis-14570	123	2	.	.	X
fcis-14570	123	3	conclusion	conclusion	NOUN
fcis-14570	123	4	in	in	ADP
fcis-14570	123	5	order	order	NOUN
fcis-14570	123	6	to	to	PART
fcis-14570	123	7	solve	solve	VERB
fcis-14570	123	8	the	the	DET
fcis-14570	123	9	problem	problem	NOUN
fcis-14570	123	10	that	that	SCONJ
fcis-14570	123	11	in	in	ADP
fcis-14570	123	12	complex	complex	ADJ
fcis-14570	123	13	environments	environment	NOUN
fcis-14570	123	14	,	,	PUNCT
fcis-14570	123	15	the	the	DET
fcis-14570	123	16	traditional	traditional	ADJ
fcis-14570	123	17	global	global	ADJ
fcis-14570	123	18	a	a	PRON
fcis-14570	123	19	*	*	X
fcis-14570	123	20	path	path	NOUN
fcis-14570	123	21	planning	planning	NOUN
fcis-14570	123	22	algorithm	algorithm	NOUN
fcis-14570	123	23	has	have	VERB
fcis-14570	123	24	many	many	ADJ
fcis-14570	123	25	search	search	NOUN
fcis-14570	123	26	nodes	node	NOUN
fcis-14570	123	27	,	,	PUNCT
fcis-14570	123	28	many	many	ADJ
fcis-14570	123	29	redundant	redundant	ADJ
fcis-14570	123	30	points	point	NOUN
fcis-14570	123	31	,	,	PUNCT
fcis-14570	123	32	and	and	CCONJ
fcis-14570	123	33	can	can	AUX
fcis-14570	123	34	not	not	PART
fcis-14570	123	35	avoid	avoid	VERB
fcis-14570	123	36	dynamic	dynamic	ADJ
fcis-14570	123	37	obstacles	obstacle	NOUN
fcis-14570	123	38	,	,	PUNCT
fcis-14570	123	39	this	this	DET
fcis-14570	123	40	paper	paper	NOUN
fcis-14570	123	41	proposes	propose	VERB
fcis-14570	123	42	a	a	DET
fcis-14570	123	43	path	path	NOUN
fcis-14570	123	44	planning	planning	NOUN
fcis-14570	123	45	that	that	PRON
fcis-14570	123	46	improves	improve	VERB
fcis-14570	123	47	a	a	PRON
fcis-14570	123	48	*	*	PUNCT
fcis-14570	123	49	combined	combine	VERB
fcis-14570	123	50	with	with	ADP
fcis-14570	123	51	the	the	DET
fcis-14570	123	52	dwa	dwa	PROPN
fcis-14570	123	53	algorithm	algorithm	NOUN
fcis-14570	123	54	.	.	PUNCT
fcis-14570	124	1	by	by	ADP
fcis-14570	124	2	adding	add	VERB
fcis-14570	124	3	the	the	DET
fcis-14570	124	4	dwa	dwa	PROPN
fcis-14570	124	5	algorithm	algorithm	NOUN
fcis-14570	124	6	,	,	PUNCT
fcis-14570	124	7	and	and	CCONJ
fcis-14570	124	8	the	the	DET
fcis-14570	124	9	turning	turning	NOUN
fcis-14570	124	10	point	point	NOUN
fcis-14570	124	11	of	of	ADP
fcis-14570	124	12	the	the	DET
fcis-14570	124	13	a	a	PROPN
fcis-14570	124	14	*	*	ADJ
fcis-14570	124	15	path	path	NOUN
fcis-14570	124	16	is	be	AUX
fcis-14570	124	17	selected	select	VERB
fcis-14570	124	18	as	as	ADP
fcis-14570	124	19	the	the	DET
fcis-14570	124	20	intermediate	intermediate	ADJ
fcis-14570	124	21	node	node	NOUN
fcis-14570	124	22	of	of	ADP
fcis-14570	124	23	dwa	dwa	PROPN
fcis-14570	124	24	to	to	PART
fcis-14570	124	25	realize	realize	VERB
fcis-14570	124	26	the	the	DET
fcis-14570	124	27	fusion	fusion	NOUN
fcis-14570	124	28	of	of	ADP
fcis-14570	124	29	algorithms	algorithm	NOUN
fcis-14570	124	30	on	on	ADP
fcis-14570	124	31	the	the	DET
fcis-14570	124	32	basis	basis	NOUN
fcis-14570	124	33	of	of	ADP
fcis-14570	124	34	global	global	ADJ
fcis-14570	124	35	optimality	optimality	NOUN
fcis-14570	124	36	,	,	PUNCT
fcis-14570	124	37	so	so	SCONJ
fcis-14570	124	38	that	that	SCONJ
fcis-14570	124	39	the	the	DET
fcis-14570	124	40	robot	robot	NOUN
fcis-14570	124	41	has	have	VERB
fcis-14570	124	42	the	the	DET
fcis-14570	124	43	ability	ability	NOUN
fcis-14570	124	44	to	to	PART
fcis-14570	124	45	avoid	avoid	VERB
fcis-14570	124	46	local	local	ADJ
fcis-14570	124	47	static	static	ADJ
fcis-14570	124	48	and	and	CCONJ
fcis-14570	124	49	dynamic	dynamic	ADJ
fcis-14570	124	50	obstacles	obstacle	NOUN
fcis-14570	124	51	in	in	ADP
fcis-14570	124	52	complex	complex	ADJ
fcis-14570	124	53	environments	environment	NOUN
fcis-14570	124	54	.	.	PUNCT
fcis-14570	125	1	experimental	experimental	ADJ
fcis-14570	125	2	results	result	NOUN
fcis-14570	125	3	show	show	VERB
fcis-14570	125	4	that	that	SCONJ
fcis-14570	125	5	the	the	DET
fcis-14570	125	6	improved	improve	VERB
fcis-14570	125	7	fusion	fusion	NOUN
fcis-14570	125	8	algorithm	algorithm	NOUN
fcis-14570	125	9	can	can	AUX
fcis-14570	125	10	effectively	effectively	ADV
fcis-14570	125	11	avoid	avoid	VERB
fcis-14570	125	12	local	local	ADJ
fcis-14570	125	13	optima	optima	NOUN
fcis-14570	125	14	and	and	CCONJ
fcis-14570	125	15	collisions	collision	NOUN
fcis-14570	125	16	with	with	ADP
fcis-14570	125	17	static	static	ADJ
fcis-14570	125	18	and	and	CCONJ
fcis-14570	125	19	dynamic	dynamic	ADJ
fcis-14570	125	20	obstacles	obstacle	NOUN
fcis-14570	125	21	.	.	PUNCT
fcis-14570	126	1	reaching	reach	VERB
fcis-14570	126	2	the	the	DET
fcis-14570	126	3	end	end	NOUN
fcis-14570	126	4	point	point	NOUN
fcis-14570	126	5	safely	safely	ADV
fcis-14570	126	6	proves	prove	VERB
fcis-14570	126	7	the	the	DET
fcis-14570	126	8	feasibility	feasibility	NOUN
fcis-14570	126	9	of	of	ADP
fcis-14570	126	10	the	the	DET
fcis-14570	126	11	fusion	fusion	NOUN
fcis-14570	126	12	algorithm	algorithm	NOUN
fcis-14570	126	13	in	in	ADP
fcis-14570	126	14	robot	robot	NOUN
fcis-14570	126	15	path	path	NOUN
fcis-14570	126	16	planning	planning	NOUN
fcis-14570	126	17	.	.	PUNCT
fcis-14570	127	1	references	reference	NOUN
fcis-14570	127	2	[	[	X
fcis-14570	127	3	1	1	NUM
fcis-14570	127	4	]	]	X
fcis-14570	127	5	memetimin	memetimin	NOUN
fcis-14570	127	6	h	h	NOUN
fcis-14570	127	7	l	l	NOUN
fcis-14570	127	8	m	m	VERB
fcis-14570	127	9	q	q	X
fcis-14570	127	10	q	q	X
fcis-14570	127	11	l	l	X
fcis-14570	127	12	y	y	PROPN
fcis-14570	127	13	l	l	NOUN
fcis-14570	127	14	.path	.path	NOUN
fcis-14570	127	15	planning	planning	NOUN
fcis-14570	127	16	technique	technique	NOUN
fcis-14570	127	17	for	for	ADP
fcis-14570	127	18	mobile	mobile	ADJ
fcis-14570	127	19	robots	robot	NOUN
fcis-14570	127	20	:	:	PUNCT
fcis-14570	127	21	a	a	DET
fcis-14570	127	22	review[j].machines,2023,11(10	review[j].machines,2023,11(10	NOUN
fcis-14570	127	23	)	)	PUNCT
fcis-14570	127	24	.	.	PUNCT
fcis-14570	128	1	[	[	X
fcis-14570	128	2	2	2	NUM
fcis-14570	128	3	]	]	PUNCT
fcis-14570	128	4	jicun	jicun	NOUN
fcis-14570	128	5	y	y	PROPN
fcis-14570	128	6	w	w	PROPN
fcis-14570	128	7	g	g	PROPN
fcis-14570	128	8	l	l	NOUN
fcis-14570	128	9	g	g	NOUN
fcis-14570	128	10	x	x	SYM
fcis-14570	128	11	.mobile	.mobile	VERB
fcis-14570	128	12	robot	robot	NOUN
fcis-14570	128	13	path	path	NOUN
fcis-14570	128	14	planning	planning	NOUN
fcis-14570	128	15	with	with	ADP
fcis-14570	128	16	reformativebatalgorithm.[j].plos	reformativebatalgorithm.[j].plo	NOUN
fcis-14570	128	17	one,2022,17(11):e0276577e0276577	one,2022,17(11):e0276577e0276577	ADV
fcis-14570	128	18	.	.	PUNCT
fcis-14570	129	1	[	[	X
fcis-14570	129	2	3	3	X
fcis-14570	129	3	]	]	AUX
fcis-14570	129	4	behnam	behnam	VERB
fcis-14570	129	5	a	a	DET
fcis-14570	129	6	m	m	NOUN
fcis-14570	129	7	.a	.a	ADJ
fcis-14570	129	8	new	new	ADJ
fcis-14570	129	9	path	path	NOUN
fcis-14570	129	10	following	follow	VERB
fcis-14570	129	11	scheme	scheme	NOUN
fcis-14570	129	12	:	:	PUNCT
fcis-14570	129	13	safe	safe	ADJ
fcis-14570	129	14	distance	distance	NOUN
fcis-14570	129	15	from	from	ADP
fcis-14570	129	16	obstacles	obstacle	NOUN
fcis-14570	129	17	,	,	PUNCT
fcis-14570	129	18	smooth	smooth	ADJ
fcis-14570	129	19	path	path	NOUN
fcis-14570	129	20	,	,	PUNCT
fcis-14570	129	21	multi	multi	ADJ
fcis-14570	129	22	-	-	ADJ
fcis-14570	129	23	robots[j].journal	robots[j].journal	ADJ
fcis-14570	129	24	of	of	ADP
fcis-14570	129	25	ambient	ambient	ADJ
fcis-14570	129	26	intelligence	intelligence	NOUN
fcis-14570	129	27	and	and	CCONJ
fcis-14570	129	28	humanized	humanize	VERB
fcis-14570	129	29	computing	computing	NOUN
fcis-14570	129	30	,	,	PUNCT
fcis-14570	129	31	2023	2023	NUM
fcis-14570	129	32	,	,	PUNCT
fcis-14570	129	33	14(4	14(4	NUM
fcis-14570	129	34	):	):	PUNCT
fcis-14570	129	35	4621	4621	NUM
fcis-14570	129	36	-	-	SYM
fcis-14570	129	37	4633	4633	NUM
fcis-14570	129	38	.	.	PUNCT
fcis-14570	130	1	[	[	X
fcis-14570	130	2	4	4	X
fcis-14570	130	3	]	]	X
fcis-14570	130	4	qing	qe	VERB
fcis-14570	130	5	r	r	NOUN
fcis-14570	130	6	j	j	PROPN
fcis-14570	130	7	e	e	PROPN
fcis-14570	130	8	m	m	VERB
fcis-14570	130	9	k	k	PROPN
fcis-14570	130	10	.a*-based	.a*-based	NUM
fcis-14570	130	11	co	co	ADJ
fcis-14570	130	12	-	-	ADJ
fcis-14570	130	13	evolutionary	evolutionary	ADJ
fcis-14570	130	14	approach	approach	NOUN
fcis-14570	130	15	for	for	ADP
fcis-14570	130	16	multi	multi	ADJ
fcis-14570	130	17	-	-	ADJ
fcis-14570	130	18	robot	robot	ADJ
fcis-14570	130	19	path	path	NOUN
fcis-14570	130	20	planning	planning	NOUN
fcis-14570	130	21	with	with	ADP
fcis-14570	130	22	collision	collision	NOUN
fcis-14570	130	23	avoidance[j	avoidance[j	NOUN
fcis-14570	130	24	]	]	PUNCT
fcis-14570	130	25	.	.	PUNCT
fcis-14570	131	1	cybernetics	cybernetic	NOUN
fcis-14570	131	2	and	and	CCONJ
fcis-14570	131	3	systems,2023,54(3):339	systems,2023,54(3):339	NOUN
fcis-14570	131	4	-	-	PUNCT
fcis-14570	131	5	354	354	NUM
fcis-14570	131	6	.	.	PUNCT
fcis-14570	132	1	[	[	X
fcis-14570	132	2	5	5	NUM
fcis-14570	132	3	]	]	X
fcis-14570	132	4	shuo	shuo	NOUN
fcis-14570	132	5	w	w	PROPN
fcis-14570	132	6	.artificial	.artificial	PROPN
fcis-14570	132	7	intelligence	intelligence	NOUN
fcis-14570	132	8	path	path	NOUN
fcis-14570	132	9	planning	planning	NOUN
fcis-14570	132	10	for	for	ADP
fcis-14570	132	11	marine	marine	ADJ
fcis-14570	132	12	environment[j].journal	environment[j].journal	ADJ
fcis-14570	132	13	of	of	ADP
fcis-14570	132	14	physics	physics	NOUN
fcis-14570	132	15	:	:	PUNCT
fcis-14570	132	16	conference	conference	NOUN
fcis-14570	132	17	series	series	NOUN
fcis-14570	132	18	,	,	PUNCT
fcis-14570	132	19	2021	2021	NUM
fcis-14570	132	20	,	,	PUNCT
fcis-14570	132	21	1852	1852	NUM
fcis-14570	132	22	(	(	PUNCT
fcis-14570	132	23	2	2	NUM
fcis-14570	132	24	)	)	PUNCT
fcis-14570	132	25	.	.	PUNCT
fcis-14570	133	1	[	[	X
fcis-14570	133	2	6	6	NUM
fcis-14570	133	3	]	]	PUNCT
fcis-14570	133	4	tan	tan	PROPN
fcis-14570	133	5	z	z	NOUN
fcis-14570	133	6	x	x	PUNCT
fcis-14570	134	1	z	z	NOUN
fcis-14570	134	2	p	p	X
fcis-14570	134	3	.a	.a	PROPN
fcis-14570	134	4	heuristic	heuristic	ADJ
fcis-14570	134	5	integrated	integrate	VERB
fcis-14570	134	6	scheduling	scheduling	NOUN
fcis-14570	134	7	algorithm	algorithm	NOUN
fcis-14570	134	8	based	base	VERB
fcis-14570	134	9	on	on	ADP
fcis-14570	134	10	improved	improved	ADJ
fcis-14570	134	11	dijkstra	dijkstra	ADJ
fcis-14570	134	12	algorithm[j	algorithm[j	PROPN
fcis-14570	134	13	]	]	PUNCT
fcis-14570	134	14	.	.	PUNCT
fcis-14570	135	1	electronics	electronic	NOUN
fcis-14570	135	2	,	,	PUNCT
fcis-14570	135	3	2023	2023	NUM
fcis-14570	135	4	,	,	PUNCT
fcis-14570	135	5	12	12	NUM
fcis-14570	135	6	(	(	PUNCT
fcis-14570	135	7	20	20	NUM
fcis-14570	135	8	)	)	PUNCT
fcis-14570	135	9	.	.	PUNCT
fcis-14570	136	1	[	[	X
fcis-14570	136	2	7	7	X
fcis-14570	136	3	]	]	X
fcis-14570	136	4	chen	chen	PROPN
fcis-14570	136	5	z	z	PROPN
fcis-14570	136	6	h	h	PROPN
fcis-14570	136	7	l	l	NOUN
fcis-14570	136	8	h	h	NOUN
fcis-14570	136	9	g	g	PROPN
fcis-14570	136	10	.uav	.uav	PROPN
fcis-14570	136	11	path	path	PROPN
fcis-14570	136	12	planning	planning	NOUN
fcis-14570	136	13	based	base	VERB
fcis-14570	136	14	on	on	ADP
fcis-14570	136	15	improved	improve	VERB
fcis-14570	136	16	artificial	artificial	ADJ
fcis-14570	136	17	potential	potential	ADJ
fcis-14570	136	18	field	field	NOUN
fcis-14570	136	19	method[j].aerospace,2023,10(6	method[j].aerospace,2023,10(6	NOUN
fcis-14570	136	20	)	)	PUNCT
fcis-14570	136	21	.	.	PUNCT
fcis-14570	137	1	[	[	X
fcis-14570	137	2	8	8	NUM
fcis-14570	137	3	]	]	X
fcis-14570	137	4	sheng	sheng	NOUN
fcis-14570	138	1	g	g	PROPN
fcis-14570	138	2	z	z	PROPN
fcis-14570	138	3	j	j	PROPN
fcis-14570	138	4	y	y	PROPN
fcis-14570	138	5	l	l	PROPN
fcis-14570	138	6	.a	.a	PROPN
fcis-14570	139	1	robot	robot	NOUN
fcis-14570	139	2	path	path	PROPN
fcis-14570	139	3	planning	planning	NOUN
fcis-14570	139	4	method	method	NOUN
fcis-14570	139	5	based	base	VERB
fcis-14570	139	6	on	on	ADP
fcis-14570	139	7	improved	improve	VERB
fcis-14570	139	8	genetic	genetic	ADJ
fcis-14570	139	9	algorithm	algorithm	NOUN
fcis-14570	139	10	and	and	CCONJ
fcis-14570	139	11	improved	improve	VERB
fcis-14570	139	12	dynamic	dynamic	ADJ
fcis-14570	139	13	window	window	NOUN
fcis-14570	139	14	approach[j].sustainability,2023,15(5):4656	approach[j].sustainability,2023,15(5):4656	NOUN
fcis-14570	139	15	-	-	SYM
fcis-14570	139	16	4656	4656	NUM
fcis-14570	139	17	.	.	PUNCT
fcis-14570	140	1	[	[	X
fcis-14570	140	2	9	9	NUM
fcis-14570	140	3	]	]	X
fcis-14570	140	4	chenyang	chenyang	PROPN
fcis-14570	140	5	s	s	PROPN
fcis-14570	140	6	b	b	PROPN
fcis-14570	140	7	s	s	X
fcis-14570	140	8	x	x	X
fcis-14570	140	9	s	s	NOUN
fcis-14570	140	10	.a	.a	ADJ
fcis-14570	140	11	solution	solution	NOUN
fcis-14570	140	12	for	for	ADP
fcis-14570	140	13	trajectory	trajectory	NOUN
fcis-14570	140	14	planning	planning	NOUN
fcis-14570	140	15	and	and	CCONJ
fcis-14570	140	16	control	control	NOUN
fcis-14570	140	17	of	of	ADP
fcis-14570	140	18	cooperative	cooperative	ADJ
fcis-14570	140	19	steering	steering	NOUN
fcis-14570	140	20	mobile	mobile	NOUN
fcis-14570	140	21	robot	robot	NOUN
fcis-14570	140	22	based	base	VERB
fcis-14570	140	23	on	on	ADP
fcis-14570	140	24	time	time	NOUN
fcis-14570	140	25	elastic	elastic	ADJ
fcis-14570	140	26	band[j].journal	band[j].journal	NOUN
fcis-14570	140	27	of	of	ADP
fcis-14570	140	28	computer	computer	NOUN
fcis-14570	140	29	and	and	CCONJ
fcis-14570	140	30	systems	system	NOUN
fcis-14570	140	31	sciences	sciences	PROPN
fcis-14570	140	32	international,2022,61(6):1046	international,2022,61(6):1046	PROPN
fcis-14570	140	33	-	-	PUNCT
fcis-14570	140	34	1057	1057	NUM
fcis-14570	140	35	.	.	PUNCT