id	sid	tid	token	lemma	pos
fcis-7988	1	1	frontiers	frontier	NOUN
fcis-7988	1	2	in	in	ADP
fcis-7988	1	3	computing	computing	NOUN
fcis-7988	1	4	and	and	CCONJ
fcis-7988	1	5	intelligent	intelligent	ADJ
fcis-7988	1	6	systems	system	NOUN
fcis-7988	1	7	issn	issn	VERB
fcis-7988	1	8	:	:	PUNCT
fcis-7988	1	9	2832	2832	NUM
fcis-7988	1	10	-	-	SYM
fcis-7988	1	11	6024	6024	NUM
fcis-7988	1	12	|	|	NOUN
fcis-7988	1	13	vol	vol	NOUN
fcis-7988	1	14	.	.	PROPN
fcis-7988	2	1	3	3	NUM
fcis-7988	2	2	,	,	PUNCT
fcis-7988	2	3	no	no	INTJ
fcis-7988	2	4	.	.	NOUN
fcis-7988	2	5	3	3	NUM
fcis-7988	2	6	,	,	PUNCT
fcis-7988	2	7	2023	2023	NUM
fcis-7988	2	8	27	27	NUM
fcis-7988	2	9	research	research	NOUN
fcis-7988	2	10	on	on	ADP
fcis-7988	2	11	logistics	logistic	NOUN
fcis-7988	2	12	route	route	NOUN
fcis-7988	2	13	optimization	optimization	NOUN
fcis-7988	2	14	based	base	VERB
fcis-7988	2	15	on	on	ADP
fcis-7988	2	16	afsa	afsa	PROPN
fcis-7988	2	17	ruxue	ruxue	PROPN
fcis-7988	2	18	luo	luo	PROPN
fcis-7988	2	19	1	1	NUM
fcis-7988	2	20	,	,	PUNCT
fcis-7988	2	21	2	2	NUM
fcis-7988	2	22	1	1	NUM
fcis-7988	2	23	graduate	graduate	NOUN
fcis-7988	2	24	university	university	PROPN
fcis-7988	2	25	of	of	ADP
fcis-7988	2	26	mongolia	mongolia	PROPN
fcis-7988	2	27	,	,	PUNCT
fcis-7988	2	28	ulaanbaatar	ulaanbaatar	VERB
fcis-7988	2	29	999097	999097	NUM
fcis-7988	2	30	,	,	PUNCT
fcis-7988	2	31	mongolia	mongolia	PROPN
fcis-7988	2	32	2	2	PROPN
fcis-7988	2	33	zhanjiang	zhanjiang	PROPN
fcis-7988	2	34	university	university	PROPN
fcis-7988	2	35	of	of	ADP
fcis-7988	2	36	science	science	NOUN
fcis-7988	2	37	and	and	CCONJ
fcis-7988	2	38	technology	technology	NOUN
fcis-7988	2	39	,	,	PUNCT
fcis-7988	2	40	zhanjiang	zhanjiang	PROPN
fcis-7988	2	41	524094	524094	NUM
fcis-7988	2	42	,	,	PUNCT
fcis-7988	2	43	china	china	PROPN
fcis-7988	2	44	abstract	abstract	NOUN
fcis-7988	2	45	:	:	PUNCT
fcis-7988	2	46	based	base	VERB
fcis-7988	2	47	on	on	ADP
fcis-7988	2	48	the	the	DET
fcis-7988	2	49	characteristics	characteristic	NOUN
fcis-7988	2	50	of	of	ADP
fcis-7988	2	51	logistics	logistic	NOUN
fcis-7988	2	52	goods	good	NOUN
fcis-7988	2	53	,	,	PUNCT
fcis-7988	2	54	in	in	ADP
fcis-7988	2	55	the	the	DET
fcis-7988	2	56	process	process	NOUN
fcis-7988	2	57	of	of	ADP
fcis-7988	2	58	logistics	logistic	NOUN
fcis-7988	2	59	to	to	PART
fcis-7988	2	60	choose	choose	VERB
fcis-7988	2	61	a	a	DET
fcis-7988	2	62	reasonable	reasonable	ADJ
fcis-7988	2	63	or	or	CCONJ
fcis-7988	2	64	optimal	optimal	ADJ
fcis-7988	2	65	path	path	NOUN
fcis-7988	2	66	,	,	PUNCT
fcis-7988	2	67	will	will	AUX
fcis-7988	2	68	save	save	VERB
fcis-7988	2	69	more	more	ADJ
fcis-7988	2	70	logistics	logistic	NOUN
fcis-7988	2	71	costs	cost	NOUN
fcis-7988	2	72	.	.	PUNCT
fcis-7988	3	1	in	in	ADP
fcis-7988	3	2	the	the	DET
fcis-7988	3	3	process	process	NOUN
fcis-7988	3	4	of	of	ADP
fcis-7988	3	5	using	use	VERB
fcis-7988	3	6	artificial	artificial	ADJ
fcis-7988	3	7	fish	fish	NOUN
fcis-7988	3	8	swarm	swarm	NOUN
fcis-7988	3	9	algorithm	algorithm	NOUN
fcis-7988	3	10	to	to	PART
fcis-7988	3	11	find	find	VERB
fcis-7988	3	12	the	the	DET
fcis-7988	3	13	optimal	optimal	ADJ
fcis-7988	3	14	path	path	NOUN
fcis-7988	3	15	planning	planning	NOUN
fcis-7988	3	16	,	,	PUNCT
fcis-7988	3	17	through	through	ADP
fcis-7988	3	18	the	the	DET
fcis-7988	3	19	artificial	artificial	ADJ
fcis-7988	3	20	fish	fish	NOUN
fcis-7988	3	21	swarm	swarm	NOUN
fcis-7988	3	22	algorithm	algorithm	NOUN
fcis-7988	3	23	to	to	PART
fcis-7988	3	24	improve	improve	VERB
fcis-7988	3	25	the	the	DET
fcis-7988	3	26	visual	visual	ADJ
fcis-7988	3	27	range	range	NOUN
fcis-7988	3	28	,	,	PUNCT
fcis-7988	3	29	congestion	congestion	NOUN
fcis-7988	3	30	factor	factor	NOUN
fcis-7988	3	31	and	and	CCONJ
fcis-7988	3	32	other	other	ADJ
fcis-7988	3	33	factors	factor	NOUN
fcis-7988	3	34	,	,	PUNCT
fcis-7988	3	35	and	and	CCONJ
fcis-7988	3	36	record	record	NOUN
fcis-7988	3	37	and	and	CCONJ
fcis-7988	3	38	mark	mark	VERB
fcis-7988	3	39	the	the	DET
fcis-7988	3	40	feasible	feasible	ADJ
fcis-7988	3	41	solution	solution	NOUN
fcis-7988	3	42	,	,	PUNCT
fcis-7988	3	43	the	the	DET
fcis-7988	3	44	target	target	NOUN
fcis-7988	3	45	point	point	NOUN
fcis-7988	3	46	of	of	ADP
fcis-7988	3	47	the	the	DET
fcis-7988	3	48	fish	fish	NOUN
fcis-7988	3	49	swarm	swarm	NOUN
fcis-7988	3	50	trajectory	trajectory	NOUN
fcis-7988	3	51	,	,	PUNCT
fcis-7988	3	52	form	form	VERB
fcis-7988	3	53	the	the	DET
fcis-7988	3	54	feasible	feasible	ADJ
fcis-7988	3	55	solution	solution	NOUN
fcis-7988	3	56	of	of	ADP
fcis-7988	3	57	the	the	DET
fcis-7988	3	58	path	path	NOUN
fcis-7988	3	59	planning	planning	NOUN
fcis-7988	3	60	and	and	CCONJ
fcis-7988	3	61	select	select	VERB
fcis-7988	3	62	the	the	DET
fcis-7988	3	63	best	good	ADJ
fcis-7988	3	64	solution	solution	NOUN
fcis-7988	3	65	,	,	PUNCT
fcis-7988	3	66	to	to	PART
fcis-7988	3	67	achieve	achieve	VERB
fcis-7988	3	68	the	the	DET
fcis-7988	3	69	optimal	optimal	ADJ
fcis-7988	3	70	logistics	logistic	NOUN
fcis-7988	3	71	path	path	NOUN
fcis-7988	3	72	,	,	PUNCT
fcis-7988	3	73	reduce	reduce	VERB
fcis-7988	3	74	the	the	DET
fcis-7988	3	75	cost	cost	NOUN
fcis-7988	3	76	of	of	ADP
fcis-7988	3	77	goods	good	NOUN
fcis-7988	3	78	logistics	logistic	NOUN
fcis-7988	3	79	.	.	PUNCT
fcis-7988	4	1	keywords	keyword	NOUN
fcis-7988	4	2	:	:	PUNCT
fcis-7988	4	3	logistics	logistic	NOUN
fcis-7988	4	4	;	;	PUNCT
fcis-7988	4	5	route	route	NOUN
fcis-7988	4	6	optimization	optimization	NOUN
fcis-7988	4	7	;	;	PUNCT
fcis-7988	4	8	artificial	artificial	ADJ
fcis-7988	4	9	fish	fish	NOUN
fcis-7988	4	10	swarm	swarm	NOUN
fcis-7988	4	11	algorithm	algorithm	NOUN
fcis-7988	4	12	.	.	PUNCT
fcis-7988	5	1	1	1	X
fcis-7988	5	2	.	.	X
fcis-7988	5	3	introduction	introduction	NOUN
fcis-7988	5	4	logistics	logistic	NOUN
fcis-7988	5	5	is	be	AUX
fcis-7988	5	6	the	the	DET
fcis-7988	5	7	most	most	ADV
fcis-7988	5	8	important	important	ADJ
fcis-7988	5	9	link	link	NOUN
fcis-7988	5	10	of	of	ADP
fcis-7988	5	11	products	product	NOUN
fcis-7988	5	12	.	.	PUNCT
fcis-7988	6	1	the	the	DET
fcis-7988	6	2	optimal	optimal	ADJ
fcis-7988	6	3	logistics	logistic	NOUN
fcis-7988	6	4	path	path	NOUN
fcis-7988	6	5	is	be	AUX
fcis-7988	6	6	not	not	PART
fcis-7988	6	7	only	only	ADV
fcis-7988	6	8	conducive	conducive	ADJ
fcis-7988	6	9	to	to	ADP
fcis-7988	6	10	protecting	protect	VERB
fcis-7988	6	11	the	the	DET
fcis-7988	6	12	fast	fast	ADJ
fcis-7988	6	13	delivery	delivery	NOUN
fcis-7988	6	14	of	of	ADP
fcis-7988	6	15	goods	good	NOUN
fcis-7988	6	16	and	and	CCONJ
fcis-7988	6	17	reducing	reduce	VERB
fcis-7988	6	18	losses	loss	NOUN
fcis-7988	6	19	,	,	PUNCT
fcis-7988	6	20	but	but	CCONJ
fcis-7988	6	21	also	also	ADV
fcis-7988	6	22	saves	save	VERB
fcis-7988	6	23	costs	cost	NOUN
fcis-7988	6	24	for	for	ADP
fcis-7988	6	25	goods	good	NOUN
fcis-7988	6	26	.	.	PUNCT
fcis-7988	7	1	through	through	ADP
fcis-7988	7	2	the	the	DET
fcis-7988	7	3	path	path	NOUN
fcis-7988	7	4	planning	planning	NOUN
fcis-7988	7	5	can	can	AUX
fcis-7988	7	6	achieve	achieve	VERB
fcis-7988	7	7	the	the	DET
fcis-7988	7	8	shortest	short	ADJ
fcis-7988	7	9	time	time	NOUN
fcis-7988	7	10	and	and	CCONJ
fcis-7988	7	11	distance	distance	NOUN
fcis-7988	7	12	,	,	PUNCT
fcis-7988	7	13	the	the	DET
fcis-7988	7	14	minimum	minimum	ADJ
fcis-7988	7	15	cost	cost	NOUN
fcis-7988	7	16	and	and	CCONJ
fcis-7988	7	17	effective	effective	ADJ
fcis-7988	7	18	obstacle	obstacle	NOUN
fcis-7988	7	19	avoidance	avoidance	NOUN
fcis-7988	7	20	performance	performance	NOUN
fcis-7988	7	21	,	,	PUNCT
fcis-7988	7	22	it	it	PRON
fcis-7988	7	23	is	be	AUX
fcis-7988	7	24	also	also	ADV
fcis-7988	7	25	a	a	DET
fcis-7988	7	26	key	key	ADJ
fcis-7988	7	27	component	component	NOUN
fcis-7988	7	28	of	of	ADP
fcis-7988	7	29	the	the	DET
fcis-7988	7	30	navigation	navigation	NOUN
fcis-7988	7	31	system	system	NOUN
fcis-7988	7	32	.	.	PUNCT
fcis-7988	8	1	from	from	ADP
fcis-7988	8	2	the	the	DET
fcis-7988	8	3	initial	initial	ADJ
fcis-7988	8	4	state	state	NOUN
fcis-7988	8	5	to	to	ADP
fcis-7988	8	6	the	the	DET
fcis-7988	8	7	target	target	NOUN
fcis-7988	8	8	state	state	NOUN
fcis-7988	8	9	process	process	NOUN
fcis-7988	8	10	,	,	PUNCT
fcis-7988	8	11	to	to	PART
fcis-7988	8	12	find	find	VERB
fcis-7988	8	13	an	an	DET
fcis-7988	8	14	optimal	optimal	ADJ
fcis-7988	8	15	or	or	CCONJ
fcis-7988	8	16	near	near	ADP
fcis-7988	8	17	optimal	optimal	ADJ
fcis-7988	8	18	path	path	NOUN
fcis-7988	8	19	to	to	PART
fcis-7988	8	20	avoid	avoid	VERB
fcis-7988	8	21	obstacles	obstacle	NOUN
fcis-7988	8	22	in	in	ADP
fcis-7988	8	23	the	the	DET
fcis-7988	8	24	working	work	VERB
fcis-7988	8	25	space	space	NOUN
fcis-7988	8	26	.	.	PUNCT
fcis-7988	9	1	aiming	aim	VERB
fcis-7988	9	2	at	at	ADP
fcis-7988	9	3	the	the	DET
fcis-7988	9	4	obstacle	obstacle	NOUN
fcis-7988	9	5	avoidance	avoidance	NOUN
fcis-7988	9	6	path	path	PROPN
fcis-7988	9	7	planning	planning	NOUN
fcis-7988	9	8	problem	problem	NOUN
fcis-7988	9	9	of	of	ADP
fcis-7988	9	10	mobile	mobile	NOUN
fcis-7988	9	11	robots	robot	NOUN
fcis-7988	9	12	,	,	PUNCT
fcis-7988	9	13	liu	liu	PROPN
fcis-7988	9	14	ningning	ningning	PROPN
fcis-7988	9	15	et	et	PROPN
fcis-7988	10	1	[	[	X
fcis-7988	10	2	2	2	NUM
fcis-7988	10	3	]	]	X
fcis-7988	10	4	al	al	PROPN
fcis-7988	10	5	.	.	PROPN
fcis-7988	10	6	studied	study	VERB
fcis-7988	10	7	the	the	DET
fcis-7988	10	8	obstacle	obstacle	NOUN
fcis-7988	10	9	avoidance	avoidance	NOUN
fcis-7988	10	10	path	path	NOUN
fcis-7988	10	11	of	of	ADP
fcis-7988	10	12	mobile	mobile	ADJ
fcis-7988	10	13	robots	robot	NOUN
fcis-7988	10	14	with	with	ADP
fcis-7988	10	15	improved	improved	ADJ
fcis-7988	10	16	gray	gray	ADJ
fcis-7988	10	17	wolf	wolf	NOUN
fcis-7988	10	18	optimization	optimization	NOUN
fcis-7988	10	19	algorithm	algorithm	NOUN
fcis-7988	10	20	on	on	ADP
fcis-7988	10	21	the	the	DET
fcis-7988	10	22	basis	basis	NOUN
fcis-7988	10	23	of	of	ADP
fcis-7988	10	24	the	the	DET
fcis-7988	10	25	basic	basic	ADJ
fcis-7988	10	26	swarm	swarm	NOUN
fcis-7988	10	27	intelligent	intelligent	ADJ
fcis-7988	10	28	algorithm	algorithm	NOUN
fcis-7988	10	29	.	.	PUNCT
fcis-7988	11	1	li	li	PROPN
fcis-7988	11	2	qing	qing	PROPN
fcis-7988	11	3	et	et	PROPN
fcis-7988	11	4	al	al	PROPN
fcis-7988	11	5	.	.	PROPN
fcis-7988	11	6	proposed	propose	VERB
fcis-7988	11	7	a	a	DET
fcis-7988	11	8	global	global	ADJ
fcis-7988	11	9	path	path	NOUN
fcis-7988	11	10	planning	planning	NOUN
fcis-7988	11	11	strategy	strategy	NOUN
fcis-7988	11	12	for	for	ADP
fcis-7988	11	13	mobile	mobile	ADJ
fcis-7988	11	14	robots	robot	NOUN
fcis-7988	11	15	based	base	VERB
fcis-7988	11	16	on	on	ADP
fcis-7988	11	17	convergence	convergence	NOUN
fcis-7988	11	18	preserving	preserve	VERB
fcis-7988	11	19	particle	particle	NOUN
fcis-7988	11	20	swarm	swarm	NOUN
fcis-7988	11	21	optimization	optimization	NOUN
fcis-7988	11	22	algorithm	algorithm	NOUN
fcis-7988	11	23	,	,	PUNCT
fcis-7988	11	24	which	which	PRON
fcis-7988	11	25	provides	provide	VERB
fcis-7988	11	26	a	a	DET
fcis-7988	11	27	solution	solution	NOUN
fcis-7988	11	28	for	for	ADP
fcis-7988	11	29	mobile	mobile	ADJ
fcis-7988	11	30	robots	robot	NOUN
fcis-7988	11	31	to	to	PART
fcis-7988	11	32	find	find	VERB
fcis-7988	11	33	a	a	DET
fcis-7988	11	34	shortest	short	ADJ
fcis-7988	11	35	path	path	NOUN
fcis-7988	11	36	to	to	PART
fcis-7988	11	37	avoid	avoid	VERB
fcis-7988	11	38	obstacles	obstacle	NOUN
fcis-7988	11	39	in	in	ADP
fcis-7988	11	40	a	a	DET
fcis-7988	11	41	limited	limited	ADJ
fcis-7988	11	42	time	time	NOUN
fcis-7988	11	43	.	.	PUNCT
fcis-7988	12	1	jiang	jiang	PROPN
fcis-7988	12	2	ming	ming	PROPN
fcis-7988	12	3	et	et	PROPN
fcis-7988	12	4	al	al	PROPN
fcis-7988	12	5	.	.	PROPN
fcis-7988	12	6	proposed	propose	VERB
fcis-7988	12	7	a	a	DET
fcis-7988	12	8	twopopulation	twopopulation	NOUN
fcis-7988	12	9	evolutionary	evolutionary	ADJ
fcis-7988	12	10	strategy	strategy	NOUN
fcis-7988	12	11	of	of	ADP
fcis-7988	12	12	improved	improve	VERB
fcis-7988	12	13	genetic	genetic	ADJ
fcis-7988	12	14	algorithm	algorithm	NOUN
fcis-7988	12	15	based	base	VERB
fcis-7988	12	16	on	on	ADP
fcis-7988	12	17	fixed	fix	VERB
fcis-7988	12	18	length	length	NOUN
fcis-7988	12	19	binary	binary	PROPN
fcis-7988	12	20	path	path	NOUN
fcis-7988	12	21	coding	code	VERB
fcis-7988	12	22	to	to	PART
fcis-7988	12	23	achieve	achieve	VERB
fcis-7988	12	24	global	global	ADJ
fcis-7988	12	25	path	path	NOUN
fcis-7988	12	26	optimization	optimization	NOUN
fcis-7988	12	27	.	.	PUNCT
fcis-7988	13	1	guo	guo	PROPN
fcis-7988	13	2	wei	wei	PROPN
fcis-7988	13	3	et	et	PROPN
fcis-7988	13	4	al	al	PROPN
fcis-7988	13	5	.	.	PROPN
fcis-7988	13	6	proposed	propose	VERB
fcis-7988	13	7	an	an	DET
fcis-7988	13	8	improved	improved	ADJ
fcis-7988	13	9	artificial	artificial	ADJ
fcis-7988	13	10	fish	fish	NOUN
fcis-7988	13	11	swarm	swarm	NOUN
fcis-7988	13	12	algorithm	algorithm	NOUN
fcis-7988	13	13	(	(	PUNCT
fcis-7988	13	14	iafsa	iafsa	NOUN
fcis-7988	13	15	)	)	PUNCT
fcis-7988	13	16	and	and	CCONJ
fcis-7988	13	17	a	a	DET
fcis-7988	13	18	path	path	NOUN
fcis-7988	13	19	planning	planning	NOUN
fcis-7988	13	20	method	method	NOUN
fcis-7988	13	21	based	base	VERB
fcis-7988	13	22	on	on	ADP
fcis-7988	13	23	maklink	maklink	NOUN
fcis-7988	13	24	graph	graph	NOUN
fcis-7988	13	25	to	to	PART
fcis-7988	13	26	achieve	achieve	VERB
fcis-7988	13	27	the	the	DET
fcis-7988	13	28	global	global	ADJ
fcis-7988	13	29	optimal	optimal	ADJ
fcis-7988	13	30	path	path	NOUN
fcis-7988	13	31	for	for	ADP
fcis-7988	13	32	mobile	mobile	ADJ
fcis-7988	13	33	robots	robot	NOUN
fcis-7988	13	34	in	in	ADP
fcis-7988	13	35	a	a	DET
fcis-7988	13	36	static	static	ADJ
fcis-7988	13	37	twodimensional	twodimensional	ADJ
fcis-7988	13	38	environment	environment	NOUN
fcis-7988	13	39	.	.	PUNCT
fcis-7988	14	1	tharwat	tharwat	VERB
fcis-7988	14	2	a	a	DET
fcis-7988	14	3	et	et	NOUN
fcis-7988	14	4	al	al	PROPN
fcis-7988	14	5	.	.	PROPN
fcis-7988	15	1	realized	realize	VERB
fcis-7988	15	2	intelligent	intelligent	ADJ
fcis-7988	15	3	bezier	bezier	NOUN
fcis-7988	15	4	curve	curve	NOUN
fcis-7988	15	5	path	path	NOUN
fcis-7988	15	6	optimization	optimization	NOUN
fcis-7988	15	7	planning	planning	NOUN
fcis-7988	15	8	based	base	VERB
fcis-7988	15	9	on	on	ADP
fcis-7988	15	10	chaotic	chaotic	ADJ
fcis-7988	15	11	particle	particle	NOUN
fcis-7988	15	12	swarm	swarm	NOUN
fcis-7988	15	13	optimization	optimization	NOUN
fcis-7988	15	14	algorithm	algorithm	NOUN
fcis-7988	15	15	.	.	PUNCT
fcis-7988	16	1	zhao	zhao	PROPN
fcis-7988	16	2	xiao	xiao	PROPN
fcis-7988	16	3	et	et	PROPN
fcis-7988	16	4	al	al	PROPN
fcis-7988	16	5	.	.	PROPN
fcis-7988	16	6	proposed	propose	VERB
fcis-7988	16	7	an	an	DET
fcis-7988	16	8	improved	improved	ADJ
fcis-7988	16	9	a	a	DET
fcis-7988	16	10	*	*	ADJ
fcis-7988	16	11	algorithm	algorithm	NOUN
fcis-7988	16	12	to	to	PART
fcis-7988	16	13	solve	solve	VERB
fcis-7988	16	14	the	the	DET
fcis-7988	16	15	problems	problem	NOUN
fcis-7988	16	16	of	of	ADP
fcis-7988	16	17	a	a	DET
fcis-7988	16	18	*	*	PUNCT
fcis-7988	16	19	pathfinding	pathfinde	VERB
fcis-7988	16	20	algorithm	algorithm	NOUN
fcis-7988	16	21	in	in	ADP
fcis-7988	16	22	large	large	ADJ
fcis-7988	16	23	scenes	scene	NOUN
fcis-7988	16	24	,	,	PUNCT
fcis-7988	16	25	such	such	ADJ
fcis-7988	16	26	as	as	ADP
fcis-7988	16	27	high	high	ADJ
fcis-7988	16	28	memory	memory	NOUN
fcis-7988	16	29	cost	cost	NOUN
fcis-7988	16	30	and	and	CCONJ
fcis-7988	16	31	long	long	ADJ
fcis-7988	16	32	computing	computing	NOUN
fcis-7988	16	33	time	time	NOUN
fcis-7988	16	34	.	.	PUNCT
fcis-7988	17	1	artificial	artificial	ADJ
fcis-7988	17	2	fish	fish	NOUN
fcis-7988	17	3	swarm	swarm	NOUN
fcis-7988	17	4	algorithm	algorithm	NOUN
fcis-7988	17	5	(	(	PUNCT
fcis-7988	17	6	afsa	afsa	PROPN
fcis-7988	17	7	)	)	PUNCT
fcis-7988	17	8	is	be	AUX
fcis-7988	17	9	a	a	DET
fcis-7988	17	10	new	new	ADJ
fcis-7988	17	11	swarm	swarm	NOUN
fcis-7988	17	12	intelligent	intelligent	ADJ
fcis-7988	17	13	optimization	optimization	NOUN
fcis-7988	17	14	algorithm	algorithm	NOUN
fcis-7988	17	15	that	that	PRON
fcis-7988	17	16	simulates	simulate	VERB
fcis-7988	17	17	the	the	DET
fcis-7988	17	18	clustering	clustering	NOUN
fcis-7988	17	19	,	,	PUNCT
fcis-7988	17	20	random	random	ADJ
fcis-7988	17	21	walking	walking	NOUN
fcis-7988	17	22	,	,	PUNCT
fcis-7988	17	23	foraging	foraging	NOUN
fcis-7988	17	24	and	and	CCONJ
fcis-7988	17	25	rear	rear	ADV
fcis-7988	17	26	-	-	PUNCT
fcis-7988	17	27	following	follow	VERB
fcis-7988	17	28	behaviors	behavior	NOUN
fcis-7988	17	29	of	of	ADP
fcis-7988	17	30	fish	fish	NOUN
fcis-7988	17	31	.	.	PUNCT
fcis-7988	18	1	it	it	PRON
fcis-7988	18	2	has	have	VERB
fcis-7988	18	3	the	the	DET
fcis-7988	18	4	advantages	advantage	NOUN
fcis-7988	18	5	of	of	ADP
fcis-7988	18	6	fast	fast	ADJ
fcis-7988	18	7	optimization	optimization	NOUN
fcis-7988	18	8	speed	speed	NOUN
fcis-7988	18	9	,	,	PUNCT
fcis-7988	18	10	strong	strong	ADJ
fcis-7988	18	11	global	global	ADJ
fcis-7988	18	12	optimization	optimization	NOUN
fcis-7988	18	13	ability	ability	NOUN
fcis-7988	18	14	and	and	CCONJ
fcis-7988	18	15	simple	simple	ADJ
fcis-7988	18	16	implementation	implementation	NOUN
fcis-7988	18	17	.	.	PUNCT
fcis-7988	19	1	however	however	ADV
fcis-7988	19	2	,	,	PUNCT
fcis-7988	19	3	some	some	DET
fcis-7988	19	4	factors	factor	NOUN
fcis-7988	19	5	,	,	PUNCT
fcis-7988	19	6	such	such	ADJ
fcis-7988	19	7	as	as	ADP
fcis-7988	19	8	global	global	ADJ
fcis-7988	19	9	and	and	CCONJ
fcis-7988	19	10	local	local	ADJ
fcis-7988	19	11	optimal	optimal	ADJ
fcis-7988	19	12	interference	interference	NOUN
fcis-7988	19	13	,	,	PUNCT
fcis-7988	19	14	scope	scope	NOUN
fcis-7988	19	15	of	of	ADP
fcis-7988	19	16	vision	vision	NOUN
fcis-7988	19	17	and	and	CCONJ
fcis-7988	19	18	congestion	congestion	NOUN
fcis-7988	19	19	factor	factor	NOUN
fcis-7988	19	20	,	,	PUNCT
fcis-7988	19	21	also	also	ADV
fcis-7988	19	22	affect	affect	VERB
fcis-7988	19	23	the	the	DET
fcis-7988	19	24	optimal	optimal	ADJ
fcis-7988	19	25	path	path	NOUN
fcis-7988	19	26	.	.	PUNCT
fcis-7988	20	1	in	in	ADP
fcis-7988	20	2	this	this	DET
fcis-7988	20	3	study	study	NOUN
fcis-7988	20	4	,	,	PUNCT
fcis-7988	20	5	from	from	ADP
fcis-7988	20	6	the	the	DET
fcis-7988	20	7	perspective	perspective	NOUN
fcis-7988	20	8	of	of	ADP
fcis-7988	20	9	logistics	logistic	NOUN
fcis-7988	20	10	cost	cost	NOUN
fcis-7988	20	11	,	,	PUNCT
fcis-7988	20	12	afsa	afsa	PROPN
fcis-7988	20	13	was	be	AUX
fcis-7988	20	14	improved	improve	VERB
fcis-7988	20	15	to	to	PART
fcis-7988	20	16	explore	explore	VERB
fcis-7988	20	17	the	the	DET
fcis-7988	20	18	realization	realization	NOUN
fcis-7988	20	19	of	of	ADP
fcis-7988	20	20	logistics	logistic	NOUN
fcis-7988	20	21	path	path	NOUN
fcis-7988	20	22	planning	planning	NOUN
fcis-7988	20	23	optimization	optimization	NOUN
fcis-7988	20	24	of	of	ADP
fcis-7988	20	25	electroplating	electroplate	VERB
fcis-7988	20	26	products	product	NOUN
fcis-7988	20	27	.	.	PUNCT
fcis-7988	21	1	2	2	X
fcis-7988	21	2	.	.	X
fcis-7988	21	3	problem	problem	NOUN
fcis-7988	21	4	description	description	NOUN
fcis-7988	21	5	(	(	PUNCT
fcis-7988	21	6	1	1	X
fcis-7988	21	7	)	)	PUNCT
fcis-7988	21	8	problem	problem	NOUN
fcis-7988	21	9	description	description	NOUN
fcis-7988	21	10	and	and	CCONJ
fcis-7988	21	11	basic	basic	ADJ
fcis-7988	21	12	assumptions	assumption	NOUN
fcis-7988	21	13	.	.	PUNCT
fcis-7988	22	1	logistics	logistic	NOUN
fcis-7988	22	2	route	route	NOUN
fcis-7988	22	3	planning	plan	VERB
fcis-7988	22	4	from	from	ADP
fcis-7988	22	5	the	the	DET
fcis-7988	22	6	perspective	perspective	NOUN
fcis-7988	22	7	of	of	ADP
fcis-7988	22	8	logistics	logistic	NOUN
fcis-7988	22	9	cost	cost	NOUN
fcis-7988	22	10	,	,	PUNCT
fcis-7988	22	11	planning	plan	VERB
fcis-7988	22	12	the	the	DET
fcis-7988	22	13	optimal	optimal	ADJ
fcis-7988	22	14	distribution	distribution	NOUN
fcis-7988	22	15	route	route	NOUN
fcis-7988	22	16	of	of	ADP
fcis-7988	22	17	electroplating	electroplate	VERB
fcis-7988	22	18	products	product	NOUN
fcis-7988	22	19	.	.	PUNCT
fcis-7988	23	1	assume	assume	VERB
fcis-7988	23	2	that	that	SCONJ
fcis-7988	23	3	the	the	DET
fcis-7988	23	4	logistics	logistic	NOUN
fcis-7988	23	5	transportation	transportation	NOUN
fcis-7988	23	6	is	be	AUX
fcis-7988	23	7	the	the	DET
fcis-7988	23	8	head	head	NOUN
fcis-7988	23	9	fish	fish	NOUN
fcis-7988	23	10	in	in	ADP
fcis-7988	23	11	a	a	DET
fcis-7988	23	12	school	school	NOUN
fcis-7988	23	13	of	of	ADP
fcis-7988	23	14	fish	fish	NOUN
fcis-7988	23	15	and	and	CCONJ
fcis-7988	23	16	the	the	DET
fcis-7988	23	17	formation	formation	NOUN
fcis-7988	23	18	of	of	ADP
fcis-7988	23	19	the	the	DET
fcis-7988	23	20	school	school	NOUN
fcis-7988	23	21	of	of	ADP
fcis-7988	23	22	fish	fish	NOUN
fcis-7988	23	23	to	to	PART
fcis-7988	23	24	find	find	VERB
fcis-7988	23	25	the	the	DET
fcis-7988	23	26	optimal	optimal	ADJ
fcis-7988	23	27	logistics	logistic	NOUN
fcis-7988	23	28	route	route	NOUN
fcis-7988	23	29	.	.	PUNCT
fcis-7988	24	1	(	(	PUNCT
fcis-7988	24	2	2	2	X
fcis-7988	24	3	)	)	PUNCT
fcis-7988	24	4	algorithmic	algorithmic	ADJ
fcis-7988	24	5	steps	step	NOUN
fcis-7988	24	6	.	.	PUNCT
fcis-7988	25	1	route	route	NOUN
fcis-7988	25	2	planning	planning	NOUN
fcis-7988	25	3	of	of	ADP
fcis-7988	25	4	electroplating	electroplate	VERB
fcis-7988	25	5	products	product	NOUN
fcis-7988	25	6	is	be	AUX
fcis-7988	25	7	carried	carry	VERB
fcis-7988	25	8	out	out	ADP
fcis-7988	25	9	based	base	VERB
fcis-7988	25	10	on	on	ADP
fcis-7988	25	11	afsa	afsa	NOUN
fcis-7988	25	12	.	.	PUNCT
fcis-7988	26	1	in	in	ADP
fcis-7988	26	2	the	the	DET
fcis-7988	26	3	planning	planning	NOUN
fcis-7988	26	4	process	process	NOUN
fcis-7988	26	5	,	,	PUNCT
fcis-7988	26	6	there	there	PRON
fcis-7988	26	7	is	be	VERB
fcis-7988	26	8	no	no	DET
fcis-7988	26	9	crossing	crossing	NOUN
fcis-7988	26	10	or	or	CCONJ
fcis-7988	26	11	collision	collision	VERB
fcis-7988	26	12	for	for	ADP
fcis-7988	26	13	obstacles	obstacle	NOUN
fcis-7988	26	14	.	.	PUNCT
fcis-7988	27	1	afsa	afsa	NOUN
fcis-7988	27	2	simulates	simulate	NOUN
fcis-7988	27	3	fish	fish	NOUN
fcis-7988	27	4	foraging	foraging	NOUN
fcis-7988	27	5	,	,	PUNCT
fcis-7988	27	6	clustering	clustering	ADJ
fcis-7988	27	7	,	,	PUNCT
fcis-7988	27	8	rear	rear	NOUN
fcis-7988	27	9	-	-	PUNCT
fcis-7988	27	10	ending	end	VERB
fcis-7988	27	11	and	and	CCONJ
fcis-7988	27	12	random	random	ADJ
fcis-7988	27	13	behavior	behavior	NOUN
fcis-7988	27	14	.	.	PUNCT
fcis-7988	28	1	3	3	X
fcis-7988	28	2	.	.	X
fcis-7988	28	3	parameter	parameter	NOUN
fcis-7988	28	4	and	and	CCONJ
fcis-7988	28	5	model	model	NOUN
fcis-7988	28	6	establishment	establishment	NOUN
fcis-7988	28	7	(	(	PUNCT
fcis-7988	28	8	1	1	NUM
fcis-7988	28	9	)	)	PUNCT
fcis-7988	28	10	parameter	parameter	NOUN
fcis-7988	28	11	description	description	NOUN
fcis-7988	28	12	fish	fish	NOUN
fcis-7988	28	13	school	school	NOUN
fcis-7988	28	14	size	size	NOUN
fcis-7988	28	15	:	:	PUNCT
fcis-7988	28	16	n	n	CCONJ
fcis-7988	28	17	;	;	PUNCT
fcis-7988	28	18	range	range	NOUN
fcis-7988	28	19	of	of	ADP
fcis-7988	28	20	sight	sight	NOUN
fcis-7988	28	21	:	:	PUNCT
fcis-7988	28	22	(	(	PUNCT
fcis-7988	28	23	is	be	AUX
fcis-7988	28	24	the	the	DET
fcis-7988	28	25	minimum	minimum	ADJ
fcis-7988	28	26	value	value	NOUN
fcis-7988	28	27	of	of	ADP
fcis-7988	28	28	visual	visual	ADJ
fcis-7988	28	29	range	range	NOUN
fcis-7988	28	30	,	,	PUNCT
fcis-7988	28	31	is	be	AUX
fcis-7988	28	32	the	the	DET
fcis-7988	28	33	maximum	maximum	ADJ
fcis-7988	28	34	value	value	NOUN
fcis-7988	28	35	of	of	ADP
fcis-7988	28	36	visual	visual	ADJ
fcis-7988	28	37	range	range	NOUN
fcis-7988	28	38	)	)	PUNCT
fcis-7988	28	39	;	;	PUNCT
fcis-7988	28	40	min	min	NOUN
fcis-7988	28	41	maxvisual	maxvisual	PROPN
fcis-7988	28	42	（	（	PROPN
fcis-7988	28	43	）	）	PUNCT
fcis-7988	28	44	minvisual	minvisual	PROPN
fcis-7988	28	45	maxvisual	maxvisual	ADJ
fcis-7988	28	46	crowding	crowd	VERB
fcis-7988	28	47	factor	factor	NOUN
fcis-7988	28	48	:	:	PUNCT
fcis-7988	28	49	(	(	PUNCT
fcis-7988	28	50	represents	represent	VERB
fcis-7988	28	51			NUM
fcis-7988	28	52	the	the	DET
fcis-7988	28	53	number	number	NOUN
fcis-7988	28	54	of	of	ADP
fcis-7988	28	55	artificial	artificial	ADJ
fcis-7988	28	56	fish	fish	NOUN
fcis-7988	28	57	allowed	allow	VERB
fcis-7988	28	58	to	to	PART
fcis-7988	28	59	be	be	AUX
fcis-7988	28	60	accommodated	accommodate	VERB
fcis-7988	28	61	within	within	ADP
fcis-7988	28	62	a	a	DET
fcis-7988	28	63	unit	unit	NOUN
fcis-7988	28	64	volume	volume	NOUN
fcis-7988	28	65	to	to	PART
fcis-7988	28	66	prevent	prevent	VERB
fcis-7988	28	67	artificial	artificial	ADJ
fcis-7988	28	68	fish	fish	NOUN
fcis-7988	28	69	from	from	ADP
fcis-7988	28	70	having	have	VERB
fcis-7988	28	71	local	local	ADJ
fcis-7988	28	72	extreme	extreme	ADJ
fcis-7988	28	73	value	value	NOUN
fcis-7988	28	74	points	point	NOUN
fcis-7988	28	75	)	)	PUNCT
fcis-7988	28	76	,	,	PUNCT
fcis-7988	28	77	between	between	ADP
fcis-7988	28	78	the	the	DET
fcis-7988	28	79	value	value	NOUN
fcis-7988	28	80	range;	range;	NOUN
fcis-7988	28	81			NUM
fcis-7988	28	82	(	(	PUNCT
fcis-7988	28	83	0,1	0,1	NUM
fcis-7988	28	84	)	)	PUNCT
fcis-7988	28	85	maximum	maximum	ADJ
fcis-7988	28	86	number	number	NOUN
fcis-7988	28	87	of	of	ADP
fcis-7988	28	88	attempt	attempt	NOUN
fcis-7988	28	89	steps	step	NOUN
fcis-7988	28	90	:	:	PUNCT
fcis-7988	28	91	_	_	NOUN
fcis-7988	28	92	try	try	VERB
fcis-7988	28	93	number	number	NOUN
fcis-7988	28	94	crowding	crowd	VERB
fcis-7988	28	95	factor	factor	NOUN
fcis-7988	28	96	;	;	PUNCT
fcis-7988	28	97	min	min	PROPN
fcis-7988	28	98	max	max	NOUN
fcis-7988	28	99	（	（	PROPN
fcis-7988	28	100	）	）	PUNCT
fcis-7988	28	101	number	number	NOUN
fcis-7988	28	102	of	of	ADP
fcis-7988	28	103	iterations	iteration	NOUN
fcis-7988	28	104	:	:	PUNCT
fcis-7988	28	105	t	t	NOUN
fcis-7988	28	106	;	;	PUNCT
fcis-7988	28	107	maximum	maximum	ADJ
fcis-7988	28	108	number	number	NOUN
fcis-7988	28	109	of	of	ADP
fcis-7988	28	110	iterations	iteration	NOUN
fcis-7988	28	111	:	:	PUNCT
fcis-7988	28	112	tm	tm	NOUN
fcis-7988	28	113	;	;	PUNCT
fcis-7988	28	114	adjust	adjust	VERB
fcis-7988	28	115	parameters	parameter	NOUN
fcis-7988	28	116	:	:	PUNCT
fcis-7988	28	117	m	m	VERB
fcis-7988	28	118	.	.	PUNCT
fcis-7988	29	1	(	(	PUNCT
fcis-7988	29	2	2	2	X
fcis-7988	29	3	)	)	PUNCT
fcis-7988	29	4	model	model	NOUN
fcis-7988	29	5	establishment	establishment	NOUN
fcis-7988	29	6	due	due	ADP
fcis-7988	29	7	to	to	ADP
fcis-7988	29	8	the	the	DET
fcis-7988	29	9	global	global	ADJ
fcis-7988	29	10	optimal	optimal	ADJ
fcis-7988	29	11	solution	solution	NOUN
fcis-7988	29	12	and	and	CCONJ
fcis-7988	29	13	suboptimal	suboptimal	ADJ
fcis-7988	29	14	solution	solution	NOUN
fcis-7988	29	15	curve	curve	NOUN
fcis-7988	29	16	interference	interference	NOUN
fcis-7988	29	17	problem	problem	NOUN
fcis-7988	29	18	,	,	PUNCT
fcis-7988	29	19	the	the	DET
fcis-7988	29	20	probability	probability	NOUN
fcis-7988	29	21	of	of	ADP
fcis-7988	29	22	the	the	DET
fcis-7988	29	23	optimal	optimal	ADJ
fcis-7988	29	24	route	route	NOUN
fcis-7988	29	25	planning	planning	NOUN
fcis-7988	29	26	of	of	ADP
fcis-7988	29	27	afsa	afsa	NOUN
fcis-7988	29	28	is	be	AUX
fcis-7988	29	29	,	,	PUNCT
fcis-7988	29	30	and	and	CCONJ
fcis-7988	29	31	the	the	DET
fcis-7988	29	32	probability	probability	NOUN
fcis-7988	29	33	of	of	ADP
fcis-7988	29	34	the	the	DET
fcis-7988	29	35	optimal	optimal	ADJ
fcis-7988	29	36	route	route	NOUN
fcis-7988	29	37	is	be	AUX
fcis-7988	29	38	low	low	ADJ
fcis-7988	29	39	.	.	PUNCT
fcis-7988	30	1	𝑝	𝑝	X
fcis-7988	30	2	=	=	SYM
fcis-7988	30	3	1	1	NUM
fcis-7988	30	4	2𝑛	2𝑛	NUM
fcis-7988	30	5	,	,	PUNCT
fcis-7988	30	6	𝑛	𝑛	PROPN
fcis-7988	30	7	=	=	SYM
fcis-7988	30	8	1,2,3	1,2,3	NUM
fcis-7988	30	9	,	,	PUNCT
fcis-7988	30	10	.	.	PUNCT
fcis-7988	30	11	.	.	PUNCT
fcis-7988	31	1	..	..	PUNCT
fcis-7988	32	1	in	in	ADP
fcis-7988	32	2	order	order	NOUN
fcis-7988	32	3	to	to	PART
fcis-7988	32	4	achieve	achieve	VERB
fcis-7988	32	5	the	the	DET
fcis-7988	32	6	optimal	optimal	ADJ
fcis-7988	32	7	afsa	afsa	NOUN
fcis-7988	32	8	route	route	PROPN
fcis-7988	32	9	planning	planning	NOUN
fcis-7988	32	10	,	,	PUNCT
fcis-7988	32	11	when	when	SCONJ
fcis-7988	32	12	the	the	DET
fcis-7988	32	13	fish	fish	NOUN
fcis-7988	32	14	swarm	swarm	NOUN
fcis-7988	32	15	finds	find	VERB
fcis-7988	32	16	the	the	DET
fcis-7988	32	17	target	target	NOUN
fcis-7988	32	18	point	point	NOUN
fcis-7988	32	19	,	,	PUNCT
fcis-7988	32	20	the	the	DET
fcis-7988	32	21	track	track	NOUN
fcis-7988	32	22	of	of	ADP
fcis-7988	32	23	the	the	DET
fcis-7988	32	24	fish	fish	NOUN
fcis-7988	32	25	swarm	swarm	NOUN
fcis-7988	32	26	at	at	ADP
fcis-7988	32	27	the	the	DET
fcis-7988	32	28	target	target	NOUN
fcis-7988	32	29	point	point	NOUN
fcis-7988	32	30	is	be	AUX
fcis-7988	32	31	28	28	NUM
fcis-7988	32	32	recorded	record	VERB
fcis-7988	32	33	,	,	PUNCT
fcis-7988	32	34	and	and	CCONJ
fcis-7988	32	35	the	the	DET
fcis-7988	32	36	feasible	feasible	ADJ
fcis-7988	32	37	solution	solution	NOUN
fcis-7988	32	38	of	of	ADP
fcis-7988	32	39	the	the	DET
fcis-7988	32	40	path	path	NOUN
fcis-7988	32	41	planning	planning	NOUN
fcis-7988	32	42	is	be	AUX
fcis-7988	32	43	formed	form	VERB
fcis-7988	32	44	.	.	PUNCT
fcis-7988	33	1	in	in	ADP
fcis-7988	33	2	the	the	DET
fcis-7988	33	3	feasible	feasible	ADJ
fcis-7988	33	4	solution	solution	NOUN
fcis-7988	33	5	,	,	PUNCT
fcis-7988	33	6	the	the	DET
fcis-7988	33	7	shortest	short	ADJ
fcis-7988	33	8	path	path	NOUN
fcis-7988	33	9	is	be	AUX
fcis-7988	33	10	selected	select	VERB
fcis-7988	33	11	as	as	ADP
fcis-7988	33	12	the	the	DET
fcis-7988	33	13	best	good	ADJ
fcis-7988	33	14	.	.	PUNCT
fcis-7988	34	1	in	in	ADP
fcis-7988	34	2	afsa	afsa	NOUN
fcis-7988	34	3	,	,	PUNCT
fcis-7988	34	4	the	the	DET
fcis-7988	34	5	visual	visual	ADJ
fcis-7988	34	6	range	range	NOUN
fcis-7988	34	7	is	be	AUX
fcis-7988	34	8	small	small	ADJ
fcis-7988	34	9	,	,	PUNCT
fcis-7988	34	10	and	and	CCONJ
fcis-7988	34	11	the	the	DET
fcis-7988	34	12	search	search	NOUN
fcis-7988	34	13	in	in	ADP
fcis-7988	34	14	a	a	DET
fcis-7988	34	15	small	small	ADJ
fcis-7988	34	16	range	range	NOUN
fcis-7988	34	17	is	be	AUX
fcis-7988	34	18	more	more	ADV
fcis-7988	34	19	detailed	detailed	ADJ
fcis-7988	34	20	,	,	PUNCT
fcis-7988	34	21	which	which	PRON
fcis-7988	34	22	is	be	AUX
fcis-7988	34	23	beneficial	beneficial	ADJ
fcis-7988	34	24	to	to	ADP
fcis-7988	34	25	the	the	DET
fcis-7988	34	26	convergence	convergence	NOUN
fcis-7988	34	27	rate	rate	NOUN
fcis-7988	34	28	,	,	PUNCT
fcis-7988	34	29	but	but	CCONJ
fcis-7988	34	30	it	it	PRON
fcis-7988	34	31	is	be	AUX
fcis-7988	34	32	easy	easy	ADJ
fcis-7988	34	33	to	to	PART
fcis-7988	34	34	fall	fall	VERB
fcis-7988	34	35	into	into	ADP
fcis-7988	34	36	the	the	DET
fcis-7988	34	37	local	local	ADJ
fcis-7988	34	38	optimal	optimal	ADJ
fcis-7988	34	39	.	.	PUNCT
fcis-7988	35	1	on	on	ADP
fcis-7988	35	2	the	the	DET
fcis-7988	35	3	contrary	contrary	NOUN
fcis-7988	35	4	,	,	PUNCT
fcis-7988	35	5	the	the	DET
fcis-7988	35	6	wider	wide	ADJ
fcis-7988	35	7	detection	detection	NOUN
fcis-7988	35	8	range	range	NOUN
fcis-7988	35	9	of	of	ADP
fcis-7988	35	10	fish	fish	NOUN
fcis-7988	35	11	swarm	swarm	NOUN
fcis-7988	35	12	is	be	AUX
fcis-7988	35	13	conducive	conducive	ADJ
fcis-7988	35	14	to	to	ADP
fcis-7988	35	15	rearend	rearend	NOUN
fcis-7988	35	16	pursuit	pursuit	NOUN
fcis-7988	35	17	and	and	CCONJ
fcis-7988	35	18	clustering	cluster	VERB
fcis-7988	35	19	behavior	behavior	NOUN
fcis-7988	35	20	,	,	PUNCT
fcis-7988	35	21	but	but	CCONJ
fcis-7988	35	22	it	it	PRON
fcis-7988	35	23	has	have	VERB
fcis-7988	35	24	an	an	DET
fcis-7988	35	25	important	important	ADJ
fcis-7988	35	26	influence	influence	NOUN
fcis-7988	35	27	on	on	ADP
fcis-7988	35	28	the	the	DET
fcis-7988	35	29	algorithm	algorithm	NOUN
fcis-7988	35	30	stability	stability	NOUN
fcis-7988	35	31	.	.	PUNCT
fcis-7988	36	1	therefore	therefore	ADV
fcis-7988	36	2	,	,	PUNCT
fcis-7988	36	3	the	the	DET
fcis-7988	36	4	visual	visual	ADJ
fcis-7988	36	5	function	function	NOUN
fcis-7988	36	6	of	of	ADP
fcis-7988	36	7	exponential	exponential	ADJ
fcis-7988	36	8	function	function	NOUN
fcis-7988	36	9	is	be	AUX
fcis-7988	36	10	proposed	propose	VERB
fcis-7988	36	11	to	to	PART
fcis-7988	36	12	adjust	adjust	VERB
fcis-7988	36	13	the	the	DET
fcis-7988	36	14	visual	visual	ADJ
fcis-7988	36	15	field	field	NOUN
fcis-7988	36	16	and	and	CCONJ
fcis-7988	36	17	give	give	VERB
fcis-7988	36	18	the	the	DET
fcis-7988	36	19	visual	visual	ADJ
fcis-7988	36	20	range	range	NOUN
fcis-7988	36	21	a	a	DET
fcis-7988	36	22	range	range	NOUN
fcis-7988	36	23	selection	selection	NOUN
fcis-7988	36	24	,	,	PUNCT
fcis-7988	36	25	that	that	ADV
fcis-7988	36	26	is	is	ADV
fcis-7988	36	27	,	,	PUNCT
fcis-7988	36	28	large	large	ADJ
fcis-7988	36	29	range	range	NOUN
fcis-7988	36	30	search	search	NOUN
fcis-7988	36	31	in	in	ADP
fcis-7988	36	32	the	the	DET
fcis-7988	36	33	early	early	ADJ
fcis-7988	36	34	stage	stage	NOUN
fcis-7988	36	35	and	and	CCONJ
fcis-7988	36	36	small	small	ADJ
fcis-7988	36	37	range	range	NOUN
fcis-7988	36	38	meticulous	meticulous	ADJ
fcis-7988	36	39	search	search	NOUN
fcis-7988	36	40	in	in	ADP
fcis-7988	36	41	the	the	DET
fcis-7988	36	42	late	late	ADJ
fcis-7988	36	43	stage	stage	NOUN
fcis-7988	36	44	,	,	PUNCT
fcis-7988	36	45	so	so	SCONJ
fcis-7988	36	46	as	as	SCONJ
fcis-7988	36	47	to	to	PART
fcis-7988	36	48	improve	improve	VERB
fcis-7988	36	49	the	the	DET
fcis-7988	36	50	search	search	NOUN
fcis-7988	36	51	accuracy	accuracy	NOUN
fcis-7988	36	52	and	and	CCONJ
fcis-7988	36	53	convergence	convergence	NOUN
fcis-7988	36	54	speed	speed	NOUN
fcis-7988	36	55	.	.	PUNCT
fcis-7988	37	1	the	the	DET
fcis-7988	37	2	algorithm	algorithm	NOUN
fcis-7988	37	3	is	be	AUX
fcis-7988	37	4	also	also	ADV
fcis-7988	37	5	easy	easy	ADJ
fcis-7988	37	6	to	to	PART
fcis-7988	37	7	implement	implement	VERB
fcis-7988	37	8	.	.	PUNCT
fcis-7988	38	1	min	min	PROPN
fcis-7988	38	2	max	max	PROPN
fcis-7988	38	3	min	min	PROPN
fcis-7988	38	4	(	(	PUNCT
fcis-7988	38	5	/	/	SYM
fcis-7988	38	6	)	)	PUNCT
fcis-7988	38	7	1/	1/	NUM
fcis-7988	38	8	(	(	PUNCT
fcis-7988	38	9	1	1	NUM
fcis-7988	38	10	(	(	PUNCT
fcis-7988	38	11	/	/	SYM
fcis-7988	38	12	)	)	PUNCT
fcis-7988	38	13	)	)	PUNCT
fcis-7988	38	14	t	t	PROPN
fcis-7988	38	15	visual	visual	ADJ
fcis-7988	38	16	visual	visual	ADJ
fcis-7988	38	17	visual	visual	ADJ
fcis-7988	38	18	visual	visual	PROPN
fcis-7988	38	19	m	m	PROPN
fcis-7988	38	20	t	t	PROPN
fcis-7988	38	21	m	m	PROPN
fcis-7988	38	22			ADJ
fcis-7988	38	23			ADJ
fcis-7988	38	24			NOUN
fcis-7988	38	25	=	=	SYM
fcis-7988	38	26			ADJ
fcis-7988	38	27			NOUN
fcis-7988	38	28	=	=	PUNCT
fcis-7988	39	1	+	+	NUM
fcis-7988	39	2			NOUN
fcis-7988	39	3	(	(	PUNCT
fcis-7988	39	4	1	1	X
fcis-7988	39	5	)	)	PUNCT
fcis-7988	39	6	considering	consider	VERB
fcis-7988	39	7	the	the	DET
fcis-7988	39	8	search	search	NOUN
fcis-7988	39	9	ability	ability	NOUN
fcis-7988	39	10	and	and	CCONJ
fcis-7988	39	11	convergence	convergence	NOUN
fcis-7988	39	12	speed	speed	NOUN
fcis-7988	39	13	of	of	ADP
fcis-7988	39	14	the	the	DET
fcis-7988	39	15	algorithm	algorithm	NOUN
fcis-7988	39	16	,	,	PUNCT
fcis-7988	39	17	the	the	DET
fcis-7988	39	18	improved	improved	ADJ
fcis-7988	39	19	crowding	crowd	VERB
fcis-7988	39	20	factor	factor	NOUN
fcis-7988	39	21	function	function	NOUN
fcis-7988	39	22	is	be	AUX
fcis-7988	39	23	:	:	PUNCT
fcis-7988	39	24	{	{	PUNCT
fcis-7988	39	25	𝛿(𝑘	𝛿(𝑘	NOUN
fcis-7988	39	26	+	+	CCONJ
fcis-7988	39	27	1	1	X
fcis-7988	39	28	)	)	PUNCT
fcis-7988	39	29	=	=	PRON
fcis-7988	39	30	𝑑𝑒𝑙	𝑑𝑒𝑙	PROPN
fcis-7988	39	31	×	×	PROPN
fcis-7988	39	32	𝛿	𝛿	PRON
fcis-7988	39	33	𝑑𝑒𝑙	𝑑𝑒𝑙	NOUN
fcis-7988	39	34	=	=	PUNCT
fcis-7988	39	35	(	(	PUNCT
fcis-7988	39	36	1	1	NUM
fcis-7988	39	37	−	−	PROPN
fcis-7988	39	38	𝑡	𝑡	NOUN
fcis-7988	39	39	𝑚𝑡	𝑚𝑡	PROPN
fcis-7988	39	40	)	)	PUNCT
fcis-7988	39	41	(	(	PUNCT
fcis-7988	39	42	𝛿𝑚𝑎𝑥𝑚𝑖𝑛	𝛿𝑚𝑎𝑥𝑚𝑖𝑛	NOUN
fcis-7988	39	43	)	)	PUNCT
fcis-7988	39	44	{	{	PUNCT
fcis-7988	39	45	(	(	PUNCT
fcis-7988	39	46	2	2	NUM
fcis-7988	39	47	)	)	PUNCT
fcis-7988	39	48	4	4	NUM
fcis-7988	39	49	.	.	X
fcis-7988	40	1	matlab	matlab	PROPN
fcis-7988	40	2	simulation	simulation	PROPN
fcis-7988	40	3	examples	example	NOUN
fcis-7988	40	4	cargo	cargo	PROPN
fcis-7988	40	5	logistics	logistic	NOUN
fcis-7988	40	6	path	path	PROPN
fcis-7988	40	7	optimization	optimization	NOUN
fcis-7988	40	8	example	example	NOUN
fcis-7988	40	9	parameter	parameter	NOUN
fcis-7988	40	10	setting	setting	NOUN
fcis-7988	40	11	,	,	PUNCT
fcis-7988	40	12	n=60	n=60	NOUN
fcis-7988	40	13	,	,	PUNCT
fcis-7988	40	14	𝑣𝑖𝑠𝑢𝑎𝑙	𝑣𝑖𝑠𝑢𝑎𝑙	NOUN
fcis-7988	40	15	=	=	SYM
fcis-7988	40	16	15	15	NUM
fcis-7988	40	17	.	.	PUNCT
fcis-7988	41	1	𝛿	𝛿	X
fcis-7988	41	2	=	=	ADJ
fcis-7988	41	3	0.618𝑡𝑟𝑦_𝑛𝑢𝑚𝑏𝑒𝑟	0.618𝑡𝑟𝑦_𝑛𝑢𝑚𝑏𝑒𝑟	NUM
fcis-7988	41	4	=	=	SYM
fcis-7988	41	5	17𝑀𝑡	17𝑀𝑡	NUM
fcis-7988	41	6	=	=	SYM
fcis-7988	41	7	110	110	NUM
fcis-7988	41	8	the	the	DET
fcis-7988	41	9	traditional	traditional	ADJ
fcis-7988	41	10	algorithm	algorithm	NOUN
fcis-7988	41	11	was	be	AUX
fcis-7988	41	12	defined	define	VERB
fcis-7988	41	13	as	as	ADP
fcis-7988	41	14	afsa1	afsa1	NOUN
fcis-7988	41	15	,	,	PUNCT
fcis-7988	41	16	and	and	CCONJ
fcis-7988	41	17	matlab	matlab	PROPN
fcis-7988	41	18	simulation	simulation	NOUN
fcis-7988	41	19	was	be	AUX
fcis-7988	41	20	used	use	VERB
fcis-7988	41	21	to	to	PART
fcis-7988	41	22	obtain	obtain	VERB
fcis-7988	41	23	the	the	DET
fcis-7988	41	24	path	path	NOUN
fcis-7988	41	25	image	image	NOUN
fcis-7988	41	26	as	as	SCONJ
fcis-7988	41	27	shown	show	VERB
fcis-7988	41	28	in	in	ADP
fcis-7988	41	29	figure	figure	NOUN
fcis-7988	41	30	1	1	NUM
fcis-7988	41	31	and	and	CCONJ
fcis-7988	41	32	iteration	iteration	NOUN
fcis-7988	41	33	as	as	SCONJ
fcis-7988	41	34	shown	show	VERB
fcis-7988	41	35	in	in	ADP
fcis-7988	41	36	figure	figure	NOUN
fcis-7988	41	37	2	2	NUM
fcis-7988	41	38	.	.	PUNCT
fcis-7988	41	39	figure	figure	NOUN
fcis-7988	41	40	1	1	NUM
fcis-7988	41	41	.	.	PUNCT
fcis-7988	41	42	path	path	NOUN
fcis-7988	41	43	diagram	diagram	PROPN
fcis-7988	41	44	figure	figure	NOUN
fcis-7988	41	45	2	2	NUM
fcis-7988	41	46	.	.	PUNCT
fcis-7988	41	47	iteration	iteration	NOUN
fcis-7988	41	48	diagram	diagram	NOUN
fcis-7988	41	49	in	in	ADP
fcis-7988	41	50	the	the	DET
fcis-7988	41	51	feasible	feasible	ADJ
fcis-7988	41	52	solution	solution	NOUN
fcis-7988	41	53	,	,	PUNCT
fcis-7988	41	54	the	the	DET
fcis-7988	41	55	optimization	optimization	NOUN
fcis-7988	41	56	algorithm	algorithm	NOUN
fcis-7988	41	57	to	to	PART
fcis-7988	41	58	improve	improve	VERB
fcis-7988	41	59	the	the	DET
fcis-7988	41	60	visual	visual	ADJ
fcis-7988	41	61	range	range	NOUN
fcis-7988	41	62	function	function	NOUN
fcis-7988	41	63	and	and	CCONJ
fcis-7988	41	64	the	the	DET
fcis-7988	41	65	congestion	congestion	NOUN
fcis-7988	41	66	factor	factor	NOUN
fcis-7988	41	67	function	function	NOUN
fcis-7988	41	68	is	be	AUX
fcis-7988	41	69	afsa2	afsa2	X
fcis-7988	41	70	.	.	PUNCT
fcis-7988	42	1	using	use	VERB
fcis-7988	42	2	matlab	matlab	PROPN
fcis-7988	42	3	simulation	simulation	PROPN
fcis-7988	42	4	,	,	PUNCT
fcis-7988	42	5	the	the	DET
fcis-7988	42	6	path	path	NOUN
fcis-7988	42	7	image	image	NOUN
fcis-7988	42	8	is	be	AUX
fcis-7988	42	9	shown	show	VERB
fcis-7988	42	10	in	in	ADP
fcis-7988	42	11	figure	figure	NOUN
fcis-7988	42	12	3	3	NUM
fcis-7988	42	13	and	and	CCONJ
fcis-7988	42	14	the	the	DET
fcis-7988	42	15	iteration	iteration	NOUN
fcis-7988	42	16	is	be	AUX
fcis-7988	42	17	shown	show	VERB
fcis-7988	42	18	in	in	ADP
fcis-7988	42	19	figure	figure	NOUN
fcis-7988	42	20	4	4	NUM
fcis-7988	42	21	.	.	PUNCT
fcis-7988	42	22	figure	figure	VERB
fcis-7988	42	23	3	3	NUM
fcis-7988	42	24	.	.	NOUN
fcis-7988	42	25	path	path	NOUN
fcis-7988	42	26	diagram	diagram	PROPN
fcis-7988	42	27	figure	figure	NOUN
fcis-7988	42	28	4	4	NUM
fcis-7988	42	29	.	.	PUNCT
fcis-7988	42	30	iteration	iteration	NOUN
fcis-7988	42	31	diagram	diagram	NOUN
fcis-7988	42	32	the	the	DET
fcis-7988	42	33	above	above	ADJ
fcis-7988	42	34	two	two	NUM
fcis-7988	42	35	algorithms	algorithm	NOUN
fcis-7988	42	36	take	take	VERB
fcis-7988	42	37	60	60	NUM
fcis-7988	42	38	groups	group	NOUN
fcis-7988	42	39	of	of	ADP
fcis-7988	42	40	random	random	ADJ
fcis-7988	42	41	initial	initial	ADJ
fcis-7988	42	42	values	value	NOUN
fcis-7988	42	43	for	for	ADP
fcis-7988	42	44	the	the	DET
fcis-7988	42	45	experiment	experiment	NOUN
fcis-7988	42	46	,	,	PUNCT
fcis-7988	42	47	recording	record	VERB
fcis-7988	42	48	the	the	DET
fcis-7988	42	49	shortest	short	ADJ
fcis-7988	42	50	and	and	CCONJ
fcis-7988	42	51	longest	long	ADJ
fcis-7988	42	52	path	path	NOUN
fcis-7988	42	53	.	.	PUNCT
fcis-7988	43	1	the	the	DET
fcis-7988	43	2	path	path	NOUN
fcis-7988	43	3	planning	planning	NOUN
fcis-7988	43	4	results	result	NOUN
fcis-7988	43	5	show	show	VERB
fcis-7988	43	6	that	that	SCONJ
fcis-7988	43	7	afsa2	afsa2	NOUN
fcis-7988	43	8	optimizes	optimize	VERB
fcis-7988	43	9	the	the	DET
fcis-7988	43	10	path	path	NOUN
fcis-7988	43	11	,	,	PUNCT
fcis-7988	43	12	as	as	SCONJ
fcis-7988	43	13	shown	show	VERB
fcis-7988	43	14	in	in	ADP
fcis-7988	43	15	table	table	NOUN
fcis-7988	43	16	1	1	NUM
fcis-7988	43	17	.	.	PUNCT
fcis-7988	43	18	table	table	NOUN
fcis-7988	43	19	1	1	NUM
fcis-7988	43	20	.	.	PUNCT
fcis-7988	43	21	comparison	comparison	NOUN
fcis-7988	43	22	table	table	NOUN
fcis-7988	43	23	of	of	ADP
fcis-7988	43	24	optimization	optimization	NOUN
fcis-7988	43	25	results	result	NOUN
fcis-7988	43	26	model	model	VERB
fcis-7988	43	27	shortest	short	ADJ
fcis-7988	43	28	path	path	NOUN
fcis-7988	43	29	longest	long	ADJ
fcis-7988	43	30	path	path	NOUN
fcis-7988	43	31	average	average	ADJ
fcis-7988	43	32	t	t	PROPN
fcis-7988	43	33	/	/	SYM
fcis-7988	43	34	s	s	PART
fcis-7988	43	35	afsa1	afsa1	NOUN
fcis-7988	43	36	73.1	73.1	NUM
fcis-7988	43	37	83.9	83.9	NUM
fcis-7988	43	38	78.5	78.5	NUM
fcis-7988	43	39	63.4	63.4	NUM
fcis-7988	43	40	afsa2	afsa2	NOUN
fcis-7988	43	41	71.0	71.0	NUM
fcis-7988	43	42	75.0	75.0	NUM
fcis-7988	43	43	73	73	NUM
fcis-7988	43	44	62.5	62.5	NUM
fcis-7988	43	45	figure	figure	NOUN
fcis-7988	43	46	1	1	NUM
fcis-7988	43	47	,	,	PUNCT
fcis-7988	43	48	figure	figure	VERB
fcis-7988	43	49	3	3	NUM
fcis-7988	43	50	and	and	CCONJ
fcis-7988	43	51	comparison	comparison	NOUN
fcis-7988	43	52	table	table	NOUN
fcis-7988	43	53	1	1	NUM
fcis-7988	43	54	show	show	VERB
fcis-7988	43	55	that	that	SCONJ
fcis-7988	43	56	traditional	traditional	ADJ
fcis-7988	43	57	afsa1	afsa1	NOUN
fcis-7988	43	58	path	path	NOUN
fcis-7988	43	59	planning	planning	NOUN
fcis-7988	43	60	is	be	AUX
fcis-7988	43	61	prone	prone	ADJ
fcis-7988	43	62	to	to	PART
fcis-7988	43	63	be	be	AUX
fcis-7988	43	64	unreasonable	unreasonable	ADJ
fcis-7988	43	65	,	,	PUNCT
fcis-7988	43	66	with	with	ADP
fcis-7988	43	67	many	many	ADJ
fcis-7988	43	68	recorded	recorded	ADJ
fcis-7988	43	69	values	value	NOUN
fcis-7988	43	70	crossing	cross	VERB
fcis-7988	43	71	obstacles	obstacle	NOUN
fcis-7988	43	72	.	.	PUNCT
fcis-7988	44	1	however	however	ADV
fcis-7988	44	2	,	,	PUNCT
fcis-7988	44	3	if	if	SCONJ
fcis-7988	44	4	visual	visual	ADJ
fcis-7988	44	5	range	range	NOUN
fcis-7988	44	6	parameters	parameter	NOUN
fcis-7988	44	7	and	and	CCONJ
fcis-7988	44	8	crowding	crowd	VERB
fcis-7988	44	9	factor	factor	NOUN
fcis-7988	44	10	are	be	AUX
fcis-7988	44	11	fixed	fix	VERB
fcis-7988	44	12	values	value	NOUN
fcis-7988	44	13	like	like	ADP
fcis-7988	44	14	traditional	traditional	ADJ
fcis-7988	44	15	artificial	artificial	ADJ
fcis-7988	44	16	fish	fish	NOUN
fcis-7988	44	17	swarm	swarm	NOUN
fcis-7988	44	18	algorithm	algorithm	NOUN
fcis-7988	44	19	,	,	PUNCT
fcis-7988	44	20	the	the	DET
fcis-7988	44	21	path	path	NOUN
fcis-7988	44	22	can	can	AUX
fcis-7988	44	23	not	not	PART
fcis-7988	44	24	be	be	AUX
fcis-7988	44	25	optimized	optimize	VERB
fcis-7988	44	26	.	.	PUNCT
fcis-7988	45	1	by	by	ADP
fcis-7988	45	2	adding	add	VERB
fcis-7988	45	3	improved	improved	ADJ
fcis-7988	45	4	visual	visual	ADJ
fcis-7988	45	5	range	range	NOUN
fcis-7988	45	6	function	function	NOUN
fcis-7988	45	7	and	and	CCONJ
fcis-7988	45	8	congestion	congestion	NOUN
fcis-7988	45	9	factor	factor	NOUN
fcis-7988	45	10	function	function	NOUN
fcis-7988	45	11	to	to	ADP
fcis-7988	45	12	the	the	DET
fcis-7988	45	13	feasible	feasible	ADJ
fcis-7988	45	14	solution	solution	NOUN
fcis-7988	45	15	recording	recording	NOUN
fcis-7988	45	16	method	method	NOUN
fcis-7988	45	17	,	,	PUNCT
fcis-7988	45	18	afsa2	afsa2	X
fcis-7988	45	19	can	can	AUX
fcis-7988	45	20	effectively	effectively	ADV
fcis-7988	45	21	adjust	adjust	VERB
fcis-7988	45	22	itself	itself	PRON
fcis-7988	45	23	with	with	ADP
fcis-7988	45	24	the	the	DET
fcis-7988	45	25	number	number	NOUN
fcis-7988	45	26	of	of	ADP
fcis-7988	45	27	iterations	iteration	NOUN
fcis-7988	45	28	,	,	PUNCT
fcis-7988	45	29	avoid	avoid	VERB
fcis-7988	45	30	global	global	ADJ
fcis-7988	45	31	and	and	CCONJ
fcis-7988	45	32	local	local	ADJ
fcis-7988	45	33	curve	curve	NOUN
fcis-7988	45	34	interference	interference	NOUN
fcis-7988	45	35	,	,	PUNCT
fcis-7988	45	36	and	and	CCONJ
fcis-7988	45	37	obtain	obtain	VERB
fcis-7988	45	38	the	the	DET
fcis-7988	45	39	optimal	optimal	ADJ
fcis-7988	45	40	and	and	CCONJ
fcis-7988	45	41	stable	stable	ADJ
fcis-7988	45	42	logistics	logistic	NOUN
fcis-7988	45	43	path	path	NOUN
fcis-7988	45	44	.	.	PUNCT
fcis-7988	46	1	29	29	NUM
fcis-7988	46	2	5	5	NUM
fcis-7988	46	3	.	.	PUNCT
fcis-7988	46	4	epilogue	epilogue	NOUN
fcis-7988	46	5	by	by	ADP
fcis-7988	46	6	using	use	VERB
fcis-7988	46	7	the	the	DET
fcis-7988	46	8	afsa	afsa	NOUN
fcis-7988	46	9	improvement	improvement	NOUN
fcis-7988	46	10	method	method	NOUN
fcis-7988	46	11	,	,	PUNCT
fcis-7988	46	12	it	it	PRON
fcis-7988	46	13	can	can	AUX
fcis-7988	46	14	be	be	AUX
fcis-7988	46	15	seen	see	VERB
fcis-7988	46	16	from	from	ADP
fcis-7988	46	17	the	the	DET
fcis-7988	46	18	results	result	NOUN
fcis-7988	46	19	in	in	ADP
fcis-7988	46	20	table	table	NOUN
fcis-7988	46	21	1	1	NUM
fcis-7988	46	22	that	that	SCONJ
fcis-7988	46	23	the	the	DET
fcis-7988	46	24	improved	improved	ADJ
fcis-7988	46	25	planned	plan	VERB
fcis-7988	46	26	goods	good	NOUN
fcis-7988	46	27	path	path	NOUN
fcis-7988	46	28	is	be	AUX
fcis-7988	46	29	shorter	short	ADJ
fcis-7988	46	30	,	,	PUNCT
fcis-7988	46	31	the	the	DET
fcis-7988	46	32	planned	plan	VERB
fcis-7988	46	33	goods	good	NOUN
fcis-7988	46	34	path	path	NOUN
fcis-7988	46	35	is	be	AUX
fcis-7988	46	36	reasonable	reasonable	ADJ
fcis-7988	46	37	and	and	CCONJ
fcis-7988	46	38	optimized	optimize	VERB
fcis-7988	46	39	,	,	PUNCT
fcis-7988	46	40	and	and	CCONJ
fcis-7988	46	41	the	the	DET
fcis-7988	46	42	logistics	logistic	NOUN
fcis-7988	46	43	cost	cost	NOUN
fcis-7988	46	44	will	will	AUX
fcis-7988	46	45	be	be	AUX
fcis-7988	46	46	less	less	ADJ
fcis-7988	46	47	,	,	PUNCT
fcis-7988	46	48	which	which	PRON
fcis-7988	46	49	indicates	indicate	VERB
fcis-7988	46	50	that	that	SCONJ
fcis-7988	46	51	the	the	DET
fcis-7988	46	52	cost	cost	NOUN
fcis-7988	46	53	of	of	ADP
fcis-7988	46	54	goods	good	NOUN
fcis-7988	46	55	logistics	logistic	NOUN
fcis-7988	46	56	can	can	AUX
fcis-7988	46	57	be	be	AUX
fcis-7988	46	58	reduced	reduce	VERB
fcis-7988	46	59	through	through	ADP
fcis-7988	46	60	route	route	NOUN
fcis-7988	46	61	optimization	optimization	NOUN
fcis-7988	46	62	.	.	PUNCT
fcis-7988	47	1	acknowledgment	acknowledgment	NOUN
fcis-7988	47	2	fund	fund	NOUN
fcis-7988	47	3	project	project	PROPN
fcis-7988	47	4	:	:	PUNCT
fcis-7988	47	5	zhanjiang	zhanjiang	PROPN
fcis-7988	47	6	university	university	PROPN
fcis-7988	47	7	of	of	ADP
fcis-7988	47	8	science	science	NOUN
fcis-7988	47	9	and	and	CCONJ
fcis-7988	47	10	technology	technology	NOUN
fcis-7988	47	11	brand	brand	NOUN
fcis-7988	47	12	promotion	promotion	NOUN
fcis-7988	47	13	project	project	NOUN
fcis-7988	47	14	:	:	PUNCT
fcis-7988	47	15	ppjhkcz-2022278	ppjhkcz-2022278	ADJ
fcis-7988	47	16	,	,	PUNCT
fcis-7988	47	17	zhanjiang	zhanjiang	PROPN
fcis-7988	47	18	university	university	PROPN
fcis-7988	47	19	of	of	ADP
fcis-7988	47	20	science	science	NOUN
fcis-7988	47	21	and	and	CCONJ
fcis-7988	47	22	technology	technology	NOUN
fcis-7988	47	23	featured	feature	VERB
fcis-7988	47	24	major	major	ADJ
fcis-7988	47	25	project	project	NOUN
fcis-7988	47	26	:	:	PUNCT
fcis-7988	47	27	engineering	engineering	NOUN
fcis-7988	47	28	management	management	NOUN
fcis-7988	47	29	major	major	NOUN
fcis-7988	47	30	.	.	PUNCT
fcis-7988	48	1	references	reference	NOUN
fcis-7988	48	2	[	[	X
fcis-7988	48	3	1	1	NUM
fcis-7988	48	4	]	]	X
fcis-7988	48	5	zhu	zhu	PROPN
fcis-7988	48	6	daqi	daqi	PROPN
fcis-7988	48	7	,	,	PUNCT
fcis-7988	48	8	yan	yan	PROPN
fcis-7988	48	9	mingzhong	mingzhong	PROPN
fcis-7988	48	10	.	.	PUNCT
fcis-7988	49	1	[	[	X
fcis-7988	49	2	2010].review	2010].review	NUM
fcis-7988	49	3	of	of	ADP
fcis-7988	49	4	path	path	NOUN
fcis-7988	49	5	planning	planning	NOUN
fcis-7988	49	6	technology	technology	NOUN
fcis-7988	49	7	for	for	ADP
fcis-7988	49	8	mobile	mobile	NOUN
fcis-7988	49	9	robot	robot	NOUN
fcis-7988	49	10	.	.	PUNCT
fcis-7988	50	1	control	control	NOUN
fcis-7988	50	2	and	and	CCONJ
fcis-7988	50	3	decision	decision	NOUN
fcis-7988	50	4	,	,	PUNCT
fcis-7988	50	5	25(07	25(07	NUM
fcis-7988	50	6	)	)	PUNCT
fcis-7988	50	7	,	,	PUNCT
fcis-7988	50	8	961	961	NUM
fcis-7988	50	9	-	-	SYM
fcis-7988	50	10	967	967	NUM
fcis-7988	50	11	.	.	PUNCT
fcis-7988	51	1	[	[	X
fcis-7988	51	2	2	2	NUM
fcis-7988	51	3	]	]	X
fcis-7988	51	4	li	li	PROPN
fcis-7988	51	5	qing	qing	PROPN
fcis-7988	51	6	,	,	PUNCT
fcis-7988	51	7	xu	xu	PROPN
fcis-7988	51	8	yinmei	yinmei	PROPN
fcis-7988	51	9	,	,	PUNCT
fcis-7988	51	10	zhang	zhang	PROPN
fcis-7988	51	11	dezheng	dezheng	PROPN
fcis-7988	51	12	,	,	PUNCT
fcis-7988	51	13	yin	yin	PROPN
fcis-7988	51	14	yixin	yixin	PROPN
fcis-7988	51	15	.	.	PUNCT
fcis-7988	52	1	[	[	X
fcis-7988	52	2	2010	2010	NUM
fcis-7988	52	3	]	]	PUNCT
fcis-7988	52	4	.	.	PUNCT
fcis-7988	53	1	global	global	ADJ
fcis-7988	53	2	path	path	PROPN
fcis-7988	53	3	planning	planning	NOUN
fcis-7988	53	4	strategy	strategy	NOUN
fcis-7988	53	5	for	for	ADP
fcis-7988	53	6	mobile	mobile	NOUN
fcis-7988	53	7	robot	robot	NOUN
fcis-7988	53	8	based	base	VERB
fcis-7988	53	9	on	on	ADP
fcis-7988	53	10	particle	particle	NOUN
fcis-7988	53	11	swarm	swarm	NOUN
fcis-7988	53	12	optimization.journal	optimization.journal	PROPN
fcis-7988	53	13	of	of	ADP
fcis-7988	53	14	university	university	NOUN
fcis-7988	53	15	of	of	ADP
fcis-7988	53	16	science	science	NOUN
fcis-7988	53	17	and	and	CCONJ
fcis-7988	53	18	technology	technology	PROPN
fcis-7988	53	19	beijing	beijing	PROPN
fcis-7988	53	20	,	,	PUNCT
fcis-7988	53	21	32(3	32(3	NUM
fcis-7988	53	22	)	)	PUNCT
fcis-7988	53	23	,	,	PUNCT
fcis-7988	53	24	397	397	NUM
fcis-7988	53	25	-	-	SYM
fcis-7988	53	26	402	402	NUM
fcis-7988	53	27	.	.	PUNCT
fcis-7988	54	1	[	[	X
fcis-7988	54	2	3	3	X
fcis-7988	54	3	]	]	X
fcis-7988	54	4	jiang	jiang	PROPN
fcis-7988	54	5	ming	ming	PROPN
fcis-7988	54	6	,	,	PUNCT
fcis-7988	54	7	wang	wang	PROPN
fcis-7988	54	8	heng	heng	PROPN
fcis-7988	54	9	,	,	PUNCT
fcis-7988	54	10	zhang	zhang	PROPN
fcis-7988	54	11	hua	hua	PROPN
fcis-7988	54	12	,	,	PUNCT
fcis-7988	54	13	xie	xie	PROPN
fcis-7988	54	14	xingzhe	xingzhe	PROPN
fcis-7988	54	15	.	.	PUNCT
fcis-7988	55	1	[	[	X
fcis-7988	55	2	2011].application	2011].application	NUM
fcis-7988	55	3	of	of	ADP
fcis-7988	55	4	improved	improved	ADJ
fcis-7988	55	5	genetic	genetic	ADJ
fcis-7988	55	6	algorithm	algorithm	NOUN
fcis-7988	55	7	in	in	ADP
fcis-7988	55	8	global	global	ADJ
fcis-7988	55	9	path	path	PROPN
fcis-7988	55	10	planning	planning	NOUN
fcis-7988	55	11	of	of	ADP
fcis-7988	55	12	mobile	mobile	NOUN
fcis-7988	55	13	robot	robot	NOUN
fcis-7988	55	14	.	.	PUNCT
fcis-7988	56	1	computer	computer	NOUN
fcis-7988	56	2	applications	application	NOUN
fcis-7988	56	3	and	and	CCONJ
fcis-7988	56	4	software	software	NOUN
fcis-7988	56	5	.	.	PUNCT
fcis-7988	57	1	(	(	PUNCT
fcis-7988	57	2	08	08	NUM
fcis-7988	57	3	)	)	PUNCT
fcis-7988	57	4	,	,	PUNCT
fcis-7988	57	5	113	113	NUM
fcis-7988	57	6	-	-	SYM
fcis-7988	57	7	116	116	NUM
fcis-7988	57	8	.	.	PUNCT
fcis-7988	58	1	[	[	X
fcis-7988	58	2	4	4	NUM
fcis-7988	58	3	]	]	X
fcis-7988	58	4	guo	guo	PROPN
fcis-7988	58	5	wei	wei	PROPN
fcis-7988	58	6	,	,	PUNCT
fcis-7988	58	7	qin	qin	PROPN
fcis-7988	58	8	guoxuan	guoxuan	PROPN
fcis-7988	58	9	,	,	PUNCT
fcis-7988	58	10	wang	wang	PROPN
fcis-7988	58	11	lei	lei	PROPN
fcis-7988	58	12	,	,	PUNCT
fcis-7988	58	13	sun	sun	NOUN
fcis-7988	58	14	rijie.[2019].robot	rijie.[2019].robot	NUM
fcis-7988	58	15	path	path	NOUN
fcis-7988	58	16	planning	planning	NOUN
fcis-7988	58	17	based	base	VERB
fcis-7988	58	18	on	on	ADP
fcis-7988	58	19	improved	improve	VERB
fcis-7988	58	20	artificial	artificial	ADJ
fcis-7988	58	21	fish	fish	NOUN
fcis-7988	58	22	swarm	swarm	NOUN
fcis-7988	58	23	algorithm	algorithm	NOUN
fcis-7988	58	24	and	and	CCONJ
fcis-7988	58	25	maklink	maklink	NOUN
fcis-7988	58	26	graph	graph	NOUN
fcis-7988	58	27	.	.	PUNCT
fcis-7988	58	28	control	control	NOUN
fcis-7988	58	29	and	and	CCONJ
fcis-7988	58	30	decision.(6),18	decision.(6),18	NOUN
fcis-7988	58	31	.	.	PUNCT
fcis-7988	59	1	[	[	X
fcis-7988	59	2	5	5	NUM
fcis-7988	59	3	]	]	PUNCT
fcis-7988	59	4	tharwat	tharwat	VERB
fcis-7988	59	5	a	a	PRON
fcis-7988	59	6	,	,	PUNCT
fcis-7988	59	7	elhoseny	elhoseny	PROPN
fcis-7988	59	8	m	m	PROPN
fcis-7988	59	9	,	,	PUNCT
fcis-7988	59	10	hassanien	hassanien	NOUN
fcis-7988	59	11	a	a	PRON
fcis-7988	59	12	,	,	PUNCT
fcis-7988	59	13	gabel	gabel	PROPN
fcis-7988	59	14	t	t	PROPN
fcis-7988	59	15	,	,	PUNCT
fcis-7988	59	16	kumar	kumar	PROPN
fcis-7988	59	17	a.[2018].intelligent	a.[2018].intelligent	PROPN
fcis-7988	59	18	bezier	bezier	NOUN
fcis-7988	59	19	curve	curve	NOUN
fcis-7988	59	20	-	-	PUNCT
fcis-7988	59	21	based	base	VERB
fcis-7988	59	22	path	path	NOUN
fcis-7988	59	23	planning	planning	NOUN
fcis-7988	59	24	model	model	NOUN
fcis-7988	59	25	using	use	VERB
fcis-7988	59	26	chaotic	chaotic	ADJ
fcis-7988	59	27	particle	particle	NOUN
fcis-7988	59	28	swarm	swarm	NOUN
fcis-7988	59	29	optimization	optimization	NOUN
fcis-7988	59	30	algorithm[j].cluster	algorithm[j].cluster	PROPN
fcis-7988	59	31	computing	computing	NOUN
fcis-7988	59	32	,	,	PUNCT
fcis-7988	59	33	3,1	3,1	NUM
fcis-7988	59	34	-	-	SYM
fcis-7988	59	35	22	22	NUM
fcis-7988	59	36	.	.	PUNCT
fcis-7988	60	1	[	[	X
fcis-7988	60	2	6	6	NUM
fcis-7988	60	3	]	]	X
fcis-7988	60	4	zhao	zhao	PROPN
fcis-7988	60	5	xiao	xiao	PROPN
fcis-7988	60	6	,	,	PUNCT
fcis-7988	60	7	wang	wang	PROPN
fcis-7988	60	8	zheng	zheng	PROPN
fcis-7988	60	9	,	,	PUNCT
fcis-7988	60	10	huang	huang	PROPN
fcis-7988	60	11	chengkan	chengkan	PROPN
fcis-7988	60	12	,	,	PUNCT
fcis-7988	60	13	zhao	zhao	PROPN
fcis-7988	60	14	yanwei.[2018].path	yanwei.[2018].path	PROPN
fcis-7988	60	15	planning	planning	NOUN
fcis-7988	60	16	of	of	ADP
fcis-7988	60	17	mobile	mobile	NOUN
fcis-7988	60	18	robot	robot	NOUN
fcis-7988	60	19	based	base	VERB
fcis-7988	60	20	on	on	ADP
fcis-7988	60	21	improved	improve	VERB
fcis-7988	60	22	a	a	DET
fcis-7988	60	23	*	*	ADJ
fcis-7988	60	24	algorithm	algorithm	NOUN
fcis-7988	60	25	.	.	PUNCT
fcis-7988	61	1	robot	robot	NOUN
fcis-7988	61	2	,	,	PUNCT
fcis-7988	61	3	(	(	PUNCT
fcis-7988	61	4	06),903	06),903	NUM
fcis-7988	61	5	-	-	PUNCT
fcis-7988	61	6	910	910	NUM
fcis-7988	61	7	.	.	PUNCT
fcis-7988	62	1	[	[	X
fcis-7988	62	2	7	7	X
fcis-7988	62	3	]	]	X
fcis-7988	62	4	wang	wang	PROPN
fcis-7988	62	5	hui	hui	PROPN
fcis-7988	62	6	,	,	PUNCT
fcis-7988	62	7	huang	huang	PROPN
fcis-7988	62	8	yiqing	yiqing	PROPN
fcis-7988	62	9	,	,	PUNCT
fcis-7988	62	10	liu	liu	PROPN
fcis-7988	62	11	xiaofeng.[2019].path	xiaofeng.[2019].path	PROPN
fcis-7988	62	12	planning	planning	PROPN
fcis-7988	62	13	of	of	ADP
fcis-7988	62	14	mobile	mobile	NOUN
fcis-7988	62	15	robot	robot	NOUN
fcis-7988	62	16	based	base	VERB
fcis-7988	62	17	on	on	ADP
fcis-7988	62	18	detection	detection	NOUN
fcis-7988	62	19	operator	operator	NOUN
fcis-7988	62	20	experiential	experiential	ADJ
fcis-7988	62	21	learning	learning	NOUN
fcis-7988	62	22	fish	fish	NOUN
fcis-7988	62	23	swarm	swarm	NOUN
fcis-7988	62	24	algorithm	algorithm	NOUN
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fcis-7988	63	1	journal	journal	PROPN
fcis-7988	63	2	of	of	ADP
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fcis-7988	63	4	institute	institute	PROPN
fcis-7988	63	5	of	of	ADP
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fcis-7988	63	8	20	20	NUM
fcis-7988	63	9	.	.	PUNCT
fcis-7988	64	1	[	[	X
fcis-7988	64	2	8	8	NUM
fcis-7988	64	3	]	]	X
fcis-7988	64	4	chen	chen	PROPN
fcis-7988	64	5	t	t	PROPN
fcis-7988	64	6	b	b	PROPN
fcis-7988	64	7	,	,	PUNCT
fcis-7988	64	8	zhang	zhang	PROPN
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fcis-7988	64	10	,	,	PUNCT
fcis-7988	64	11	gao	gao	PROPN
fcis-7988	64	12	s	s	PART
fcis-7988	64	13	,	,	PUNCT
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fcis-7988	64	17	on	on	ADP
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fcis-7988	64	20	target	target	NOUN
fcis-7988	64	21	distribution	distribution	NOUN
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fcis-7988	64	26	system	system	NOUN
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fcis-7988	64	28	on	on	ADP
fcis-7988	64	29	improved	improve	VERB
fcis-7988	64	30	artificial	artificial	ADJ
fcis-7988	64	31	potential	potential	ADJ
fcis-7988	64	32	field	field	NOUN
fcis-7988	64	33	method	method	NOUN
fcis-7988	64	34	-	-	PUNCT
fcis-7988	64	35	fish	fish	NOUN
fcis-7988	64	36	swarm	swarm	NOUN
fcis-7988	64	37	algorithm[c	algorithm[c	NOUN
fcis-7988	64	38	]	]	PUNCT
fcis-7988	64	39	.	.	PUNCT
fcis-7988	65	1	2018	2018	NUM
fcis-7988	65	2	chinese	chinese	ADJ
fcis-7988	65	3	control	control	NOUN
fcis-7988	65	4	and	and	CCONJ
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fcis-7988	65	6	conference	conference	NOUN
fcis-7988	65	7	(	(	PUNCT
fcis-7988	65	8	ccdc	ccdc	PROPN
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fcis-7988	65	10	.	.	PUNCT
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fcis-7988	67	2	9	9	NUM
fcis-7988	67	3	]	]	X
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fcis-7988	67	5	mingxing	mingxing	PROPN
fcis-7988	67	6	,	,	PUNCT
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fcis-7988	67	9	,	,	PUNCT
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fcis-7988	67	11	yanping	yanping	PROPN
fcis-7988	67	12	,	,	PUNCT
fcis-7988	67	13	hou	hou	PROPN
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fcis-7988	67	15	signal	signal	PROPN
fcis-7988	67	16	doa	doa	PROPN
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fcis-7988	67	18	based	base	VERB
fcis-7988	67	19	on	on	ADP
fcis-7988	67	20	iafsa	iafsa	NOUN
fcis-7988	67	21	-	-	PUNCT
fcis-7988	67	22	music	music	NOUN
fcis-7988	67	23	algorithm	algorithm	NOUN
fcis-7988	67	24	.	.	PUNCT
fcis-7988	68	1	mathematics	mathematic	NOUN
fcis-7988	68	2	in	in	ADP
fcis-7988	68	3	practice	practice	NOUN
fcis-7988	68	4	and	and	CCONJ
fcis-7988	68	5	cognition	cognition	NOUN
fcis-7988	68	6	,	,	PUNCT
fcis-7988	68	7	49	49	NUM
fcis-7988	68	8	(	(	PUNCT
fcis-7988	68	9	22	22	NUM
fcis-7988	68	10	)	)	PUNCT
fcis-7988	68	11	,	,	PUNCT
fcis-7988	68	12	163	163	NUM
fcis-7988	68	13	-	-	SYM
fcis-7988	68	14	170	170	NUM
fcis-7988	68	15	.	.	PUNCT
fcis-7988	69	1	[	[	X
fcis-7988	69	2	10	10	NUM
fcis-7988	69	3	]	]	X
fcis-7988	69	4	yu	yu	PROPN
fcis-7988	69	5	zhuoxi	zhuoxi	PROPN
fcis-7988	69	6	,	,	PUNCT
fcis-7988	69	7	jin	jin	NOUN
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fcis-7988	69	12	model	model	NOUN
fcis-7988	69	13	based	base	VERB
fcis-7988	69	14	on	on	ADP
fcis-7988	69	15	improved	improve	VERB
fcis-7988	69	16	artificial	artificial	ADJ
fcis-7988	69	17	fish	fish	NOUN
fcis-7988	69	18	swarm	swarm	NOUN
fcis-7988	69	19	algorithm	algorithm	NOUN
fcis-7988	69	20	.	.	PUNCT
fcis-7988	70	1	statistics	statistic	NOUN
fcis-7988	70	2	and	and	CCONJ
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fcis-7988	70	4	-	-	PUNCT
fcis-7988	70	5	77	77	NUM
fcis-7988	70	6	.	.	PUNCT
fcis-7988	71	1	[	[	X
fcis-7988	71	2	11	11	NUM
fcis-7988	71	3	]	]	X
fcis-7988	71	4	luo	luo	PROPN
fcis-7988	71	5	ruxue	ruxue	NOUN
fcis-7988	71	6	,	,	PUNCT
fcis-7988	71	7	chen	chen	PROPN
fcis-7988	71	8	miaona	miaona	PROPN
fcis-7988	71	9	,	,	PUNCT
fcis-7988	71	10	lin	lin	PROPN
fcis-7988	71	11	jican	jican	PROPN
fcis-7988	71	12	.	.	PUNCT
fcis-7988	72	1	[	[	X
fcis-7988	72	2	2020	2020	NUM
fcis-7988	72	3	]	]	X
fcis-7988	72	4	path	path	NOUN
fcis-7988	72	5	planning	planning	NOUN
fcis-7988	72	6	of	of	ADP
fcis-7988	72	7	robot	robot	NOUN
fcis-7988	72	8	based	base	VERB
fcis-7988	72	9	on	on	ADP
fcis-7988	72	10	improved	improve	VERB
fcis-7988	72	11	artificial	artificial	ADJ
fcis-7988	72	12	fish	fish	NOUN
fcis-7988	72	13	swarm	swarm	NOUN
fcis-7988	72	14	algorithm	algorithm	NOUN
fcis-7988	72	15	.	.	PUNCT
fcis-7988	73	1	science	science	NOUN
fcis-7988	73	2	technology	technology	PROPN
fcis-7988	73	3	and	and	CCONJ
fcis-7988	73	4	engineering,20(23),9455	engineering,20(23),9455	PROPN
fcis-7988	73	5	-	-	PROPN
fcis-7988	73	6	9449	9449	NUM
fcis-7988	73	7	.	.	PUNCT