The Department of Control and Systems Engineering awards a master's degree in the development of the path planning algorithm

Asmaa Abdul Latif Hussain from the Department of Control and Systems Engineering at the University of Technology has gained the master's degree in "Developing the Path Planning algorithm Based on the Human Position of Human Position" with a grade of excellence.

The discussion committee consisted of Dr. Ahmed Sabah Al-Araji as Chairman

Dr. Saad Abdel-Reda Mekki and Dr. Ahmed Khalaf Hamoudi, members of Dr. Firas Abdul Razzaq Rahim ( supervisor ) .

Abstract:

In this thesis,a modified derivation of C-space construction analysis was introduced, which effective tool in robot path planning. This construction is based on geometrical analysis for some of basic, regular shape obstacles in the robot environment. A * path planning algorithm was applied on the C-space map. Then D * algorithm, which has better behavior than the first method, was applied. From both methods, the shortest path was obtained that is free from any collision with obstacles. For an optimal path, the D* path was used with PSO algorithm and was implemented on C-space after the latter's map was defined using the Artificial Neural Network (ANN) for an accurate description of the collision zones. The algorithms that applied on C-space map were demonstrated by modeling and practical results.