Production Eng. & Metallurgy Dep. discuss Ph.D. dissertation

Production Eng. & Metallurgy Dep.at UOT discussed Ph.D. dissertation about (On-Line Tracking and Obstacle Avoidance of Mobile Robot in Industrial Application)

 The research presented by the student (Alaa Hasan Shabeeb) who is majoring Production Eng. / design and carry on a perception approach to guide roving robot during the task of tracing the path collision-free navigation, and the perception approach was designed from three main units: the image processing unit, Route planning unit & robot motion control unit.

The first unit aims to design a visual search unit for a WMR workspace to detect obstacles, recognize WMR & target point, this unit used a vision system and appropriate algorithms of image processing to extract information from the surroundings and give more interaction to a moving robot with the external environment.

The 2ed unit designed to ensure safety & efficiency of path pointes which is directed the roving robot movement by finding the required path based on swarm algorithms’ approaches that are carried on collecting between (IPSO) & (GWO).

While the 3ed one represented by design a motion control unit to guide a wheeled roving robot through during real-time trajectory tracking (online approach) based on (PID).

This proposed approach of portable robot able to achieve the following tasks:-

• Recognizing the robot environments’.
• Localization (map building).
• Obstacle avoidance.
• Decision-making.
• Movement control.

 The discussion committee consist of:-

• Dr. Wissam K. Hamdan. UOT / the head.
• Prof. Dr. Maher Y. Salloum. Baghdad University / member.
• Prof. Dr. Baraa M. Hussein. UOT / member.
• Prof. Dr. Aqil S. Baden. UOT / member.
• Prof. Dr. Muhannad M. Hussain. UOT / member.
• Prof. Dr. Tahseen F. Abbas. UOT / supervisor.