Browsing by Author "Hachour, O.(supervisor)"

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    Autonomous mobile robot path planning using the A* “A star” algorithm
    (2021) Massoum, Mohamed Samy; Lakhdari, Chabane; Hachour, O.(supervisor)
    The ability to search and plan a path for a robot is highly essential especially that path planning is one of the main steps for complete robot navigation; this project and its report oversee the necessary steps and grounds for efficient path planning through a preset workspace, to perform this, choosing the best-suited type of map through many possible models is the first step, after the working space is set, a range of different versions of the A* algorithm not similar in their heuristics are tested in a Python IDE to generate the optimal path alternated through selected cases of obstacles placements and map sizes, the best version was chosen then is tested in a MATLAB environment for the final simulation to search and derive the optimal path, where random obstacles are placed in the map after setting the start and goal position by choice, allowing for a solution fitting for a mobile robot navigation problem.
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    PLC based control robotic arm
    (2021) Gouby, Khaled; Benameur, Ayoub; Hachour, O.(supervisor)
    Programmable Logic Controller (PLC) is making big role in automation and robotics. Robot arm is equipped with several servomotors, which do links between arms and perform arm movements. Hence, this report describes the servo drive system function under a PLC brain controller. As, it shows the advantages related to the use of a PLC in this kind of applications, compared to specialized hardware or industrial personal computers. The control software Totally Integrated Automation Portal (TIA Portal) of Siemens is to be used to write the plc's ladder code to control the servomotor drive for pick and place tasks. Where, the factory IO simulation environment with PLCSIM are employed to establish the various simulation tests.