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Related Experiment Video

Updated: Sep 13, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle.

Iván González-Hernández1, Jonathan Flores1, Sergio Salazar1

  • 1Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies, Mexico City 07360, Mexico.

Sensors (Basel, Switzerland)
|July 30, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a simplified sliding mode control for unmanned ground vehicles, enabling robust autonomous navigation and obstacle avoidance. Real-time programming feasibility and stability were demonstrated through simulations and experimental tests.

Keywords:
precise navigationrobust controlunmanned ground vehicle

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Area of Science:

  • Robotics
  • Control Systems
  • Artificial Intelligence

Background:

  • Autonomous navigation systems for ground vehicles face challenges in real-time obstacle avoidance.
  • Robust control strategies are essential for reliable operation in dynamic environments.

Purpose of the Study:

  • To present a robust control strategy for autonomous navigation and obstacle avoidance in unmanned ground vehicles.
  • To ensure real-time programming feasibility and system stability.

Main Methods:

  • Implementation of a simplified second-order sliding mode control algorithm.
  • Utilizing redundant inertial sensors, global positioning system, and LiDAR sensors for data acquisition.
  • Application of Lyapunov's second method to demonstrate system stability.

Main Results:

  • The control algorithm successfully avoids the derivative of the sliding surface, enhancing real-time applicability.
  • Numerical simulations verified the robustness of the proposed control strategy.
  • Outdoor experimental tests validated the practical performance of the autonomous navigation system.

Conclusions:

  • The simplified second-order sliding mode control offers a robust and feasible solution for autonomous ground vehicle navigation.
  • The developed strategy effectively addresses obstacle avoidance challenges in real-world scenarios.