Control and Systems Engineering Department at UOT discussed M.Sc. thesis about (Design and implementation of a path planning algorithm for an unknown environment).

Thesis of (Mustafa Salah Abed), specializing in mechatronics engineering, included the development of the GWO gray wolf optimization algorithm using two modified versions called MGWO1 and MGWO2 to solve path planning problems in an environment of unknown obstacles and goals. The two modified versions were compared with the African vulture optimization algorithm AVOA and the original gray wolf optimization algorithm, GWO. Moreover, the results of the proposed algorithms were also compared with the previous research involving APSO adaptive particle swarm optimization, where each method is divided into two phases: sensor reading phase, and trajectory computation phase. Four different case studies were used to demonstrate the effectiveness of the proposed methods. Simulation results are applied using the MATLAB 2016 package.

The results showed that the two proposed methods give better results compared to other algorithms. Where the result of the first case study without obstacles was improved by 3.17153%, the proposed method showed the ability to create a collision-free path regarding the unknown fixed and moving obstacles, to avoid local minimum points, and finally, make the robot reach the moving target. 

The discussion committee consisted of:

• Dr. Ahmed Ibrahim Abdel Karim / the head.
• Prof. Dr. Mohamed Sabry Salem / member.
• Prof. Dr. Luma Issa Abdel Karim / member.
• Dr. Omar Farouk Lutfi / supervisor.
• Dr. Qusay Fadel Hassan / supervisor.