Simultaneous localization and mapping navigation of unmanned ground vehicle based on second-order smooth variable structure filter with improved technique to combat fading for advanced wireless communications

• Published in: Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2021-08, Vol.235 (7), p.1258-1271
• Main Authors: Mosbah, Abdelkader, Demim, Fethi, Mansoul, Ali, Benssalah, Mustapha, Nemra, Abdelkrim
• Format: Article
• Language: English
• Subjects: Algorithms; Autonomous navigation; Channel capacity; Data exchange; Fading; Field of view; Localization; Mechanical engineering; Robot control; Robotics; Robots; Simultaneous localization and mapping; Unknown environments; Unmanned ground vehicles; Variable structure control; Wireless communication systems; Wireless communications
• ISSN: 0959-6518; 2041-3041
• DOI: 10.1177/0959651820965728

Simultaneous localization and mapping is very essential for autonomous navigation when the mobile robot is navigating in unknown environment without a global positioning system. Various techniques to solve the simultaneous localization and mapping problem have been extensively studied using the combination of low-cost sensors. Most of the work in mobile robotics still consists of finding solutions to problems in data exchange between mobile robot and communication control station, which is a challenging task. In fact, communication systems impose severe constraints in terms of channel capacity and transmission quality, because the transmission channel in communication systems is undergoing at the different physical phenomena like scattering, diffusion and diffraction, which occur interference and multiple path effects in wireless communications, while keeping these effects levels low. This article describes a simultaneous localization and mapping problem based on second-order smooth variable structure filter embedded in mobile robot equipped with a sensor for data wireless collection. The inclusion of the control in environments outside the mobile robot field of view can make the wireless communication simultaneous localization and mapping process much more difficult to find a solution under realistic conditions. In order to solve the simultaneous localization and mapping issue and to mitigate the fading phenomena, which affect the quality of service in advanced wireless communication systems, we use a new approach to combat the fading effect without requiring any statistical knowledge of the propagation channel parameters. Several experiments have been done in real-world applications, and good performances were obtained using a second-order smooth variable structure filter–simultaneous localization and mapping algorithm–based wireless communication.