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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
Summary
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.
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.
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