College of Engineering

A PH.D dissertation was discussed in Department of Computer Engineering / College of Engineering at University of Mosul entitled “Avoiding Dynamic Obstacles in the Trajectory of Mobile Robot Based on Intelligent Techniques” submitted by (Zead Mohammed Yosif) on Wednesday, Sep.14, 2022.In this dissertation , reactive algorithms are used to handle the problem of dynamic obstacle avoidance by finding the initial path using a heuristic search algorithm. Then a combination between neural network and fuzzy logic has been done to achieve obstacle avoidance. The results simulation for the tested cases show the capability of the proposed controller for avoiding static and dynamic obstacles in a fully known environment.It is proved that using fuzzy logic in controlling the speed and direction of motion of the mobile robot gives the ability to deal with multiple obstacles at different speeds.The adaptive Neuro-Fuzzy Inference System enhances the performance of the proposed controller resulting in the reduction of path length, processing time, and number of iterations.