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Ortiz et al. Intell Robot 2021;1(2):131-50 Intelligence & Robotics
DOI: 10.20517/ir.2021.09

Research Article Open Access

Autonomous navigation in unknown environment
using sliding mode SLAM and genetic algorithm

Salvador Ortiz, Wen Yu

Departamento de Control Automatico, National Polytechnic Institute, Mexico City 07360, Mexico.

Correspondence to: Prof. Wen Yu, Departamento de Control Automatico, National Polytechnic Institute, Mexico City 07360,
Mexico. E-mail: yuw@ctrl.cinvestav.mx
How to cite this article: Ortiz S, Yu W. Autonomous navigation in unknown environment using sliding mode SLAM and genetic
algorithm. Intell Robot 2021;1(2):131-50. http://dx.doi.org/10.20517/ir.2021.09
Received: 9 Sep 2021 First Decision: 28 Oct 2021 Revised: 15 Nov 2021 Accepted: 2 Dec 2021 Published: 15 Dec 2021

Academic Editors: Simon X. Yang, Hao Zhang Copy Editor: Yue-Yue Zhang Production Editor: Yue-Yue Zhang

Abstract
In this paper, sliding mode control is combined with the classical simultaneous localization and mapping (SLAM)
method. This combination can overcome the problem of bounded uncertainties in SLAM. With the help of genetic
algorithm, our novel path planning method shows many advantages compared with other popular methods.

Keywords: Autonomous navigation, sliding mode, SLAM, genetic algorithm

1. INTRODUCTION
1.1. Autonomous navigation in unknown environment
[1]
Autonomous navigation (AN) has three jobs .
[2]
(1) Perception: Mapping from signal to information is the perception of AN . Its algorithms can use human
[3]
[6]
[5]
[4]
[7]
thought , intelligent methods , optimization , probability methods , and genetic algorithms .
[8]
[9]
(2) Motion planning: It has three classes, namely graph methods such as a roadmap , random sampling ,
and grid [10] .
(3) Localization and mapping: In unknown environments, sensors, actuators, and maps may have big uncer-
tainties.

© The Author(s) 2021. Open Access This article is licensed under a Creative Commons Attribution 4.0
International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, shar­
ing, adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as long as you
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