The master's thesis of the student (Mustafa Salah Abd), specialized in mechatronics engineering, was discussed on Sunday, 22 May 2022, at Hall 9 in the Department of Control and Systems Engineering. His research was entitled:

(Design and Implementation of a Planning Algorithm for an Unknown Environment) The discussion committee consisted of:

1. Dr. Ahmed Ibrahim Abdul Karim/ Chairman.

2. Dr. Mohammed Sabri Salem / Member.

3. Dr. Luma Issa Abdul Karim / Member.

4 - Dr. Omar Farouk Lotfi / Member and Supervisor.

5. Dr. Qusay Fadhil Hassan/Member and Supervisor.

In this thesis, the Grey Wolf Improvement Algorithm (GWO) was developed using two modified versions called MGWO1 and MGWO2 to solve route planning problems in an environment of unknown obstacles and targets. The two modified versions were compared with the African Eagles Improvement Algorithm (AVOA) and the Original Grey Wolves Improvement Algorithm (GWO). Furthermore, the results of the proposed algorithms were also compared with previous research involving improved adaptive particle swarm (APSO), in which each method is divided into two phases: sensor reading phase, and path calculation phase. Four different case studies were used to demonstrate the effectiveness of the proposed methods. Simulation results are applied using matlab package (2016). The results showed that the two proposed methods yield better results than other algorithms. Where the result of the first unhindered case study was improved by 3.17153%, the proposed method showed the ability to create a collision-free path taking into account unknown fixed and moving obstacles, to avoid local minimum points and, finally, make the robot reach the mobile target. On this occasion, we congratulate the student Mustafa Salah Abd and wish him continued success.