It was conducted on Thursday ,7/8/2025, in Dr. Ihsan Yahya hall the discussion of the PhD Dissertation of the student Ali Abdulhadi Al-Abidi, which is tagged:
” Development of a Hybrid Controller based upon Artificial Intelligence for the Omni-Mecanum Wheel Robot “.
The discussion committee consisted of names listed below:
1- Prof. Dr. Muhsin Jaber Jweeg (Chairman)
2- Prof. Dr. Majid Habeeb Faidh-Allah (Member)
3- Prof. Dr. Waleed Khalid Al-Ashtari (Member)
4- Asst. Prof. Dr. Karim Hassan Ali (Member)
5- Prof. Dr. Nabil Hassan Hadi (Member)
6- Prof. Dr. Mohammad Q. Abdullah (Supervisor)
This study focused on enhancing the performance of a three-wheeled omnidirectional mobile robot (3WOMR) by addressing two main challenges: accurate path tracking and reliable obstacle avoidance. For path tracking, two hybrid sliding mode controllers were designed and tested, where the SMC-N.N-PSO controller achieved significantly higher accuracy than SMC-PSO. For obstacle avoidance, a novel GWO-MABC optimization method was developed and combined with a fuzzy logic controller (FLC) supported by RPLIDAR sensors, enabling efficient and real-time navigation in environments with both static and moving obstacles. The simulation results, confirmed by experimental tests using Arduino and Raspberry Pi, showed that the proposed framework improves accuracy, reduces path length and travel time, and ensures adaptive obstacle avoidance.
Recommendations:
- Use SMC-N.N-PSO for precise path tracking.
- Apply GWO-MABC + FLC for robust obstacle avoidance.
- Combine both in one framework for high-performance autonomous navigation.
committee, the researcher received a rating of (Very good).
