Soutenance de thèse de Monsieur Mandhan Himanshu10h00 (heure Indienne) | En Visio

Le 13 octobre 2026

 Sujet : Motion Control of Nurse Mobile Robot using Gesture and Voice Control Technique.

Directeur de thèse : Monsieur Nizar CHATTI - codirection scientifique internationale

Résumé

This thesis addresses key challenges in the autonomous navigation, fault-tolerant control, and human–robot interaction of a four-wheeled Nurse Mobile Robot (NuMoR) designed to support healthcare-related tasks. The research develops an integrated robotic platform combining a mobile base, a five-degree-of-freedom manipulator, and gesture- and voice-based control interfaces. The scientific contributions focus on three complementary areas. First, autonomous navigation and obstacle avoidance are investigated through an improved Tangent Bug algorithm incorporating a logarithmic-barrier Lyapunov function, together with an enhanced artificial potential field approach coupled with reinforcement learning to address dynamic environments and disturbances. Second, resilient motion control is explored through adaptive waypoint guidance, actuator-fault compensation, and control reconfiguration, while bond-graph modelling and analytical redundancy relations provide a framework for fault detection and isolation. Third, intuitive human–robot interaction is implemented through gesture recognition and voice commands, integrated with ROS-based robotic motion planning. The proposed approaches are assessed through numerical simulations and experimental investigations on the developed prototype, examining navigation performance, trajectory tracking, fault handling, and manipulator control. By bringing together autonomous navigation, fault-tolerant control, and multimodal interaction within a single robotic system, this thesis provides an integrated contribution to the development of assistive mobile robotics and identifies opportunities for further validation in realistic healthcare environments.