Tracking System on UGV Using Radio link SE100 M8N with Kalman Filter Method

This study focuses on guiding an autonomous ground vehicle (UGV) to a specific location using the Global Positioning System (GPS) and a compass sensor. Compass sensor data is used to determine the vehicle's direction and position, allowing it to calculate the correct direction of movement. Test results with the Kalman filter (R = 10) showed an average difference of 8.315 meters between the stopping point and the target point. In comparison, tests without the Kalman filter showed a difference of more than 10 meters in each trial. These findings indicate that the Kalman Filter reduces noise in the tracking system. In addition, tests on the QMC5883L Compass sensor revealed a small percentage of error, with an average of 0.36%.