UGV Path Tracking Base On Implementation GPS and Compass

Unmanned Ground Vehicle (UGV) is a robot that moves on the ground through automatic or manual control. UGV robots can move autonomously, requiring sensor data and intelligent control. The primary sensors used to determine direction and position are the compass sensor and Global Positioning System (GPS), which, with the help of fuzzy logic control, can convert the number of possibilities. However, navigation control in the GPS has problems with coordinating points within a certain radius, resulting in the possibility of the robot not stopping at the specified point. Additional colored markers are made at the final point of determination and tracking using the help of vision sensors. This enhancement improves the navigation precision and stopping accuracy of the robot through the presence of vision sensors. The research focuses on the integration of fuzzy logic control and vision-based tracking to enhance the functionality of the UGV, showing the fastest performance of 26 seconds with an average distance error of 0.37 meters on path 3.