Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle
Ivan Gonzalez-Hernandez, Jonathan Flores, Sergio Salazar, Rogelio Lozano · Sensors · 2025
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.