This paper presents an architecture for the navigation of an autonomous mobile robot evolving in an uncertain environment with obstacles. The proposed strategy consists in separating the path planning from the control algorithm. The path planning is done by computing the time optimal collisionfree trajectory which takes into account the limitations on the linear and angular speeds of the vehicle. The position and shape of obstacles are computed by a vision algorithm using a single camera. A saturated controller based on integral sliding mode is designed to solve the tracking problem in the presence of input saturations and of the unknown disturbances. The effectiveness, perfect performance of obstacle avoidance, real-time and high robustness properties are demonstrated by experimental results.

IEMN-DHS UMRCNRS X520. ENlC CitC Scicntifcquc -Rue Gugliclnio Mat-coni. 50650 Villcneuvc d'Ascq. Frailcc 4 I, Bd. Vaukin. 5W46 Lillc ~IEMN-DHS UMRCNRS. ISEN A b r n .~~~r -R e c e~i t l~. nirelcss technologies have known an incrc;iring succcss. rhos becoming an interesting field for study. O n e nf tlie topics o f r rch are multiple ante!ina arrays. Signal rreowr! in that rase is not obvious. Different methods with different performances have been suggestcd. F r o m il statistical analysis of wrvrs a t the outpiit o f Zero-Forcing, we have constructed a method. which w c present in this article. that combines Zero-Fvrcing and hlarimum Likelihood. We will demonstrate that it provides bath a lo\% complexity and nearly aplimal results regarding Binary Error Rare (BER). Furthermore. w e will show its rele\.;tnr> compared to t h e YBLAST algorithm.

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