الفهرس 
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Abstract
This study deals with the path planning problem in robotics.Yhis problem is a basic problem to solve some pre-specified task,and then controlling the robot as it executes the commands necessary to achieve its goal.A plan is a representation of a course of actions for achieving the goal.The planning problem can be divided into smaller sub-problems.This study concentrates on the following sub-problems:
-Representing the robot and the environment in which it moves.The environment is represented according to a given map of boundaries and obstacles.This representation takes a connection graph from that connects the different open regions in the environment.
-Finding the optimal path for the robot according to its initial and final positions in its environment.Optimal path means the path with minimum total hardness faced by the robot depends mainly on the robot’s specifications and the restrictions of the environment’s hard regions.
-Determining the course of actions to be followed by the robot through the candidate route.These actions depend on the robot capabilities and the specifications of the hard regions of the candidate route.
The work reported in this thesis is about building a complete system that solves the previous sub-problems.This system has been developrd mainly using an object oriented expert system shell.An expert system approach has been chosen according to its characteristics such as heuristic,interactive and parallel processing.