AI-Driven Mobile Robot Navigation: Precision in Road Following and Objective Pursuit / Manal BENAIDJA

Public ISBD Titre : AI-Driven Mobile Robot Navigation: Precision in Road Following and Objective Pursuit Type de document : document multimédia Auteurs : Manal BENAIDJA, Auteur ; Assia BENKOUIDER, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse Editeur : Laghouat : Université Amar Telidji - Département d'électronique Année de publication : 2024 Importance : 60p. Accompagnement : cd rom Note générale : Automation & Industrial Computing Langues : Anglais Mots-clés : Mobile Robot  ROS Robot operating system  AI Artificial intelligence  LiDar  PID controller . Résumé : In recent years, mobile robots have become essential in various fields due to their ability to perform tasks intelligently and efficiently. This project aims to control a two-wheeled mobile robot and make it follow a path using artificial intelligence. Sensors like cameras and LiDAR are key components of this project. We used specific algorithms to control the robot with a keyboard and joystick and enabled autonomous navigation with a camera and deep learning techniques. Our goal is to develop a mobile robot that can accurately follow a set path, map its surroundings, and move smoothly without issues using a PID controller. The experimental results showed good performance in road following and autonomous navigation. note de thèses : memoire de master en Electronique AI-Driven Mobile Robot Navigation: Precision in Road Following and Objective Pursuit [document multimédia] / Manal BENAIDJA, Auteur ; Assia BENKOUIDER, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse . - Laghouat : Université Amar Telidji - Département d'électronique, 2024 . - 60p. + cd rom. Automation & Industrial Computing Langues : Anglais Mots-clés : Mobile Robot  ROS Robot operating system  AI Artificial intelligence  LiDar  PID controller . Résumé : In recent years, mobile robots have become essential in various fields due to their ability to perform tasks intelligently and efficiently. This project aims to control a two-wheeled mobile robot and make it follow a path using artificial intelligence. Sensors like cameras and LiDAR are key components of this project. We used specific algorithms to control the robot with a keyboard and joystick and enabled autonomous navigation with a camera and deep learning techniques. Our goal is to develop a mobile robot that can accurately follow a set path, map its surroundings, and move smoothly without issues using a PID controller. The experimental results showed good performance in road following and autonomous navigation. note de thèses : memoire de master en Electronique

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Control and energy management of renewable energy system associated a storage system / Ibrahim Khalil Oubbati

Public ISBD Titre : Control and energy management of renewable energy system associated a storage system Titre original : Commande et gestion d'énergie d'un système à énergie renouvelable hybride doté d'un systéme stockage Type de document : texte manuscrit Auteurs : Ibrahim Khalil Oubbati, Auteur ; Mohamed Boutoubat, Directeur de thèse ; Abdelhamid Rabhi, Directeur de thèse Editeur : Laghouat : Université Amar Telidji - Département de génie électrique Année de publication : 2021 Importance : 192 p. Format : 27 cm. Accompagnement : 1 disque optique numérique (CD-ROM) Note générale : Option : Signals and system, control of systems Langues : Anglais Catégories : THESES :09 génie électrique Mots-clés : Integral Sliding Mode Control (ISMC)  Derivative Sliding Mode Control (DSMC)  PID controller  Elevator system  Integral Backstepping Sliding Mode Controller (IBSMC)  Integral Backstepping controller (IBC)  PV  MPPT  Lyapunov criteria  Salp Swarm Algorithm (SSA)  Partial Shading Conditions (PSC)  Hybrid dynamic system  Wind turbine ,DFIG, Diesel generator, Storage Devices. Résumé : This thesis consists of developing and perfecting an energy device capable of sup-plying electricity to an isolated load (Standalone) and making it autonomous injecting the electrical power in the grid network by using renewable energy sources. The considered multi-source system includes a wind turbine and photovoltaic panels as the main sources, Lithium-Ion batteries for storage, and a diesel generator as a backup source. To contribute to the resolution of energy management problems for hybrid systems and the control of renewable energy conversion chains. Firstly, we have proposed a non-linear controllers to achieve the Maximum Power Point of a PV system. These controllers achieve high dy-namic performances, witch are compared experimentally with linear/non-linear controllers under the same conditions (weather conditions). Secondly, we have proposed to use a non-linear Integral Sliding Mode Controller (ISMC) for a mechanical load powered by a wind turbine based on a Doubly-Fed Induction Generator (DFIG). In this context, state-of-the art PID-based controllers suffer from high ripples in addition to a long settling time, when considering this kind of systems. So, we have proposed to use two approaches to overcome these drawbacks: An Integral Sliding Mode Control (ISMC) and Derivative Sliding Mode Control (DSMC). Both approaches consider the well-known integral and derivative actions in the context of sliding mode theory, allowing to minimize, respectively, the steady-state error and the settling time. The experimental results show that ISMC exhibits better performances when compared to DSMC and State-of-the art PID based controller, in terms of ripples and steady-state error reduction. Besides, a proposed energy management is developed for power reference tracking and power maximization were validated by simulation using data measurements of the hybrid system to generate optimal powers references to ensure the autonomy of the system. note de thèses : Thèse de doctorat en génie électrique Control and energy management of renewable energy system associated a storage system = Commande et gestion d'énergie d'un système à énergie renouvelable hybride doté d'un systéme stockage [texte manuscrit] / Ibrahim Khalil Oubbati, Auteur ; Mohamed Boutoubat, Directeur de thèse ; Abdelhamid Rabhi, Directeur de thèse . - Laghouat : Université Amar Telidji - Département de génie électrique, 2021 . - 192 p. ; 27 cm. + 1 disque optique numérique (CD-ROM). Option : Signals and system, control of systems Langues : Anglais Catégories : THESES :09 génie électrique Mots-clés : Integral Sliding Mode Control (ISMC)  Derivative Sliding Mode Control (DSMC)  PID controller  Elevator system  Integral Backstepping Sliding Mode Controller (IBSMC)  Integral Backstepping controller (IBC)  PV  MPPT  Lyapunov criteria  Salp Swarm Algorithm (SSA)  Partial Shading Conditions (PSC)  Hybrid dynamic system  Wind turbine ,DFIG, Diesel generator, Storage Devices. Résumé : This thesis consists of developing and perfecting an energy device capable of sup-plying electricity to an isolated load (Standalone) and making it autonomous injecting the electrical power in the grid network by using renewable energy sources. The considered multi-source system includes a wind turbine and photovoltaic panels as the main sources, Lithium-Ion batteries for storage, and a diesel generator as a backup source. To contribute to the resolution of energy management problems for hybrid systems and the control of renewable energy conversion chains. Firstly, we have proposed a non-linear controllers to achieve the Maximum Power Point of a PV system. These controllers achieve high dy-namic performances, witch are compared experimentally with linear/non-linear controllers under the same conditions (weather conditions). Secondly, we have proposed to use a non-linear Integral Sliding Mode Controller (ISMC) for a mechanical load powered by a wind turbine based on a Doubly-Fed Induction Generator (DFIG). In this context, state-of-the art PID-based controllers suffer from high ripples in addition to a long settling time, when considering this kind of systems. So, we have proposed to use two approaches to overcome these drawbacks: An Integral Sliding Mode Control (ISMC) and Derivative Sliding Mode Control (DSMC). Both approaches consider the well-known integral and derivative actions in the context of sliding mode theory, allowing to minimize, respectively, the steady-state error and the settling time. The experimental results show that ISMC exhibits better performances when compared to DSMC and State-of-the art PID based controller, in terms of ripples and steady-state error reduction. Besides, a proposed energy management is developed for power reference tracking and power maximization were validated by simulation using data measurements of the hybrid system to generate optimal powers references to ensure the autonomy of the system. note de thèses : Thèse de doctorat en génie électrique

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Implementation of a Perception Algorithm for a Mobile Robot Using ROS / Boufateh Lahcen SAIED 

Public ISBD Titre : Implementation of a Perception Algorithm for a Mobile Robot Using ROS Type de document : document multimédia Auteurs : Boufateh Lahcen SAIED, Auteur ; Mohamed Badredinne HASSASA, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse Editeur : Laghouat : Université Amar Telidji - Département d'électronique Année de publication : 2022 Importance : 70p. Accompagnement : 1 CD ROM Optique Némérique Note générale : OPTION: Automation & Industrial Computing Langues : Anglais Mots-clés : Robot Operating System (ROS) , Simultaneous Localization And Mapping (SLAM), Mobile Robots, Pioneer 3-AT/DX , Webots, kinect. Résumé : The purpose of this master project is to implement a perception algorithm for a Pioneer mobile robot using the ROS platform. The introductory segment of this memory report talks about the generalities of ROS, mobile robots, and the SLAM algorithm. Firstly, we use the Gmapping algorithm to build a 2-D map of an unknown environment and estimate the trajectory of the robot.Secondly, we tested experimentally another SLAM technique (RGB-D) using the Kinect sensor to build a 3-D map.The simulation and experimental results show that the implementation of the perception algorithms is better in terms of building 2-D and 3-D maps and navigation. note de thèses : Memoire de Master en Electronique Implementation of a Perception Algorithm for a Mobile Robot Using ROS [document multimédia] / Boufateh Lahcen SAIED, Auteur ; Mohamed Badredinne HASSASA, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse . - Laghouat : Université Amar Telidji - Département d'électronique, 2022 . - 70p. + 1 CD ROM Optique Némérique. OPTION: Automation & Industrial Computing Langues : Anglais Mots-clés : Robot Operating System (ROS) , Simultaneous Localization And Mapping (SLAM), Mobile Robots, Pioneer 3-AT/DX , Webots, kinect. Résumé : The purpose of this master project is to implement a perception algorithm for a Pioneer mobile robot using the ROS platform. The introductory segment of this memory report talks about the generalities of ROS, mobile robots, and the SLAM algorithm. Firstly, we use the Gmapping algorithm to build a 2-D map of an unknown environment and estimate the trajectory of the robot.Secondly, we tested experimentally another SLAM technique (RGB-D) using the Kinect sensor to build a 3-D map.The simulation and experimental results show that the implementation of the perception algorithms is better in terms of building 2-D and 3-D maps and navigation. note de thèses : Memoire de Master en Electronique

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Investigating and Implementing ROS-based Autonomous Navigation for Mobile Robots using SLAM Algorithms / Nour OTMANI

Public ISBD Titre : Investigating and Implementing ROS-based Autonomous Navigation for Mobile Robots using SLAM Algorithms Type de document : document multimédia Auteurs : Nour OTMANI, Auteur ; Maroua Makhloufi, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse Editeur : Laghouat : Université Amar Telidji - Département d'électronique Année de publication : 2024 Importance : 60p. Accompagnement : 1 CD ROM Optique Némérique Note générale : Embedded Systems Langues : Anglais Mots-clés : Keywords: Simultaneous Localization and Mapping (SLAM), Operating System ROS, Mobile Robot, Hector SLAM, GMapping, Navigation . Résumé : Navigation is one of the most challenging tasks for a mobile robot. Mapping and navigation are becoming crucial in areas like exploration and automated vehicles, especially in places difficult for humans to access. To aid navigation, a Light Detection and Ranging (LiDAR) sensor is essential for creating maps of unknown environments. Our project focuses on mapping an unknown indoor space using Hector SLAM and GMapping techniques within the Robot Operating System (ROS). We used the Rviz tool in ROS to display the scanning results, and the maps created with LiDAR and ROS accurately match the real environment, making them ideal for indoor navigation. Additionally, we developed a navigation application where the robot first maps its current location. Then, we direct the robot to a new spot, and it moves there while updating and completing the map. This process repeats until the entire area is mapped. Our final results show that the robot can build maps and determine its location in real-time. note de thèses : Memoire de Master en Electronique Investigating and Implementing ROS-based Autonomous Navigation for Mobile Robots using SLAM Algorithms [document multimédia] / Nour OTMANI, Auteur ; Maroua Makhloufi, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse . - Laghouat : Université Amar Telidji - Département d'électronique, 2024 . - 60p. + 1 CD ROM Optique Némérique. Embedded Systems Langues : Anglais Mots-clés : Keywords: Simultaneous Localization and Mapping (SLAM), Operating System ROS, Mobile Robot, Hector SLAM, GMapping, Navigation . Résumé : Navigation is one of the most challenging tasks for a mobile robot. Mapping and navigation are becoming crucial in areas like exploration and automated vehicles, especially in places difficult for humans to access. To aid navigation, a Light Detection and Ranging (LiDAR) sensor is essential for creating maps of unknown environments. Our project focuses on mapping an unknown indoor space using Hector SLAM and GMapping techniques within the Robot Operating System (ROS). We used the Rviz tool in ROS to display the scanning results, and the maps created with LiDAR and ROS accurately match the real environment, making them ideal for indoor navigation. Additionally, we developed a navigation application where the robot first maps its current location. Then, we direct the robot to a new spot, and it moves there while updating and completing the map. This process repeats until the entire area is mapped. Our final results show that the robot can build maps and determine its location in real-time. note de thèses : Memoire de Master en Electronique

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Navigation and control system of mobile robot using ros / Zhour Saci 

Public ISBD Titre : Navigation and control system of mobile robot using ros Type de document : document multimédia Auteurs : Zhour Saci, Auteur ; Serine Benlahbib, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse Editeur : Laghouat : Université Amar Telidji - Département d'électronique Année de publication : 2023 Importance : 85p. Accompagnement : 1 CD ROM Optique Némérique Note générale : SPECIALTY: Automation & Industrial Computing Langues : Anglais Mots-clés : Mobile Robot, Robotic Operating System ROS, Simultaneous Localization and Mapping SLAM, Hector SLAM. Résumé : Mobile robots have become one of the most used technologies recently, due to its efficiency, accuracy and speed of executing orders. This work aims to build a mobile robot with two wheels and the application of simultaneous localization and mapping algorithms, such as Hector SLAM and G-mapping to construct maps of unknown environments. In addition, the project is based on using sensors such as camera, Lidar, and the JETSON NANO card for data acquisition and processing. Experimental tests include implementing Hector SLAM algorithms, controlling the robot via a keyboard, and performing autonomous navigation and collision avoidance using a camera and deep learning techniques. The objective is to develop a versatile mobile robot capable of mapping and autonomous operation. note de thèses : Memoire de Master en Electronique Navigation and control system of mobile robot using ros [document multimédia] / Zhour Saci, Auteur ; Serine Benlahbib, Auteur ; Ibrahim Khalil Oubbati, Directeur de thèse . - Laghouat : Université Amar Telidji - Département d'électronique, 2023 . - 85p. + 1 CD ROM Optique Némérique. SPECIALTY: Automation & Industrial Computing Langues : Anglais Mots-clés : Mobile Robot, Robotic Operating System ROS, Simultaneous Localization and Mapping SLAM, Hector SLAM. Résumé : Mobile robots have become one of the most used technologies recently, due to its efficiency, accuracy and speed of executing orders. This work aims to build a mobile robot with two wheels and the application of simultaneous localization and mapping algorithms, such as Hector SLAM and G-mapping to construct maps of unknown environments. In addition, the project is based on using sensors such as camera, Lidar, and the JETSON NANO card for data acquisition and processing. Experimental tests include implementing Hector SLAM algorithms, controlling the robot via a keyboard, and performing autonomous navigation and collision avoidance using a camera and deep learning techniques. The objective is to develop a versatile mobile robot capable of mapping and autonomous operation. note de thèses : Memoire de Master en Electronique

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Non-linear Controller to push PV system produce Maximum Power Point / Abderrahmane Feidjel

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