Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle
This paper presents a robust control strategy based on simplified second-order sliding mode for autonomous navigation and obstacle avoidance for an unmanned ground vehicle. The proposed control is implemented in a mini ground vehicle equipped with redundant inertial sensors for orientation, a global...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/14/4334 |
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| author | Iván González-Hernández Jonathan Flores Sergio Salazar Rogelio Lozano |
| author_facet | Iván González-Hernández Jonathan Flores Sergio Salazar Rogelio Lozano |
| author_sort | Iván González-Hernández |
| collection | DOAJ |
| description | This paper presents a robust control strategy based on simplified second-order sliding mode for autonomous navigation and obstacle avoidance for an unmanned ground vehicle. The proposed control is implemented in a mini ground vehicle equipped with redundant inertial sensors for orientation, a global positioning system, and LiDAR sensors. The algorithm control avoids the derivative of the sliding surface. This provides a feasibility in real-time programming. In order to demonstrate stability in the system, the second method of the Lyapunov theory is used. In addition, the robustness of the proposed algorithm is verified through numerical simulations. Outdoor experimental tests are performed in order to validate the performance of the proposed control. |
| format | Article |
| id | doaj-art-fe6f53b3ec7c4e96b338c4d271cc1f73 |
| institution | DOAJ |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-fe6f53b3ec7c4e96b338c4d271cc1f732025-08-20T03:08:13ZengMDPI AGSensors1424-82202025-07-012514433410.3390/s25144334Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground VehicleIván González-Hernández0Jonathan Flores1Sergio Salazar2Rogelio Lozano3Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies, Mexico City 07360, MexicoProgram of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies, Mexico City 07360, MexicoProgram of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies, Mexico City 07360, MexicoProgram of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies, Mexico City 07360, MexicoThis paper presents a robust control strategy based on simplified second-order sliding mode for autonomous navigation and obstacle avoidance for an unmanned ground vehicle. The proposed control is implemented in a mini ground vehicle equipped with redundant inertial sensors for orientation, a global positioning system, and LiDAR sensors. The algorithm control avoids the derivative of the sliding surface. This provides a feasibility in real-time programming. In order to demonstrate stability in the system, the second method of the Lyapunov theory is used. In addition, the robustness of the proposed algorithm is verified through numerical simulations. Outdoor experimental tests are performed in order to validate the performance of the proposed control.https://www.mdpi.com/1424-8220/25/14/4334unmanned ground vehiclerobust controlprecise navigation |
| spellingShingle | Iván González-Hernández Jonathan Flores Sergio Salazar Rogelio Lozano Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle Sensors unmanned ground vehicle robust control precise navigation |
| title | Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle |
| title_full | Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle |
| title_fullStr | Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle |
| title_full_unstemmed | Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle |
| title_short | Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle |
| title_sort | robust and precise navigation and obstacle avoidance for unmanned ground vehicle |
| topic | unmanned ground vehicle robust control precise navigation |
| url | https://www.mdpi.com/1424-8220/25/14/4334 |
| work_keys_str_mv | AT ivangonzalezhernandez robustandprecisenavigationandobstacleavoidanceforunmannedgroundvehicle AT jonathanflores robustandprecisenavigationandobstacleavoidanceforunmannedgroundvehicle AT sergiosalazar robustandprecisenavigationandobstacleavoidanceforunmannedgroundvehicle AT rogeliolozano robustandprecisenavigationandobstacleavoidanceforunmannedgroundvehicle |