Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages. - Erik Reyes-Reyes; Benjamin Natanael Santiago-Nogales; Ramón Silva-Ortigoza; Magdalena Marciano-Melchor; José Rafael García Sánchez; Ángel Adrián Orta-Quintana; Gilberto Silva-Ortigoza; Hind Taud; Miguel Hernández-Bolaños (IEEE Access, 2024)