الفهرس 
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Abstract
This thesis discusses the implementation of an experimental microcomputer controlled robot vehcle for useful researches in many directions such as artificial Intelligent, Computer Science , Controlled Theory, Sensor Integration and Communication. This robot vehicle is provided with ultrasonic range finder sensos to detect the presence of any obstacle in front of it.Also, it is orovided with impact sensors (limit switches) to detect sudden collision with any obstacle. The programmable path of the robot vehicle is being controlled by either endependent motors control loops or cross-coupling control loop (digital PID controllers) depending on the motion type.
This thesis consists of seven chapters that will be described as follows :
Chapter 1 : It gives a brief history of robots, classifications of robots, mobile versus fixed robots, optimizing robotic systems and a review of previous works in the field of mobile robot vehicles. Also, it gives some of mobile robot vehicles applications. Finally it discsses the topics of this thesis as well as the desingned robot vihecle configuration.
Chapter 2 : It discusses the electronic hardware that includes the two motors control cards, speed/position measurement cards, computer interface carde, and the collision detection subsystem.
Chapter 3 : It discusses the design of an ultrasonic range finder subsystem that measures the distance between the robot and any obstacle in front of it.
Chapter 4 :It discusses the robot vehcle control system modeling, analysis and design of an optimal digital PID controllers (independent and cross-coupling) that satisfy the required fast transient response specifications.
Chapter 5 : It presents the software which is written to model the dc motors, to test the ultrasonic range subsystem, and to control the robot vehicle path.
Chapter 6 : It discusses the robot vehicle installation, the hardware implementation, and results verifications.
Chapter 7 : It presents the conclusions and future works that could be recommended.