GPS tabanli bir insansiz kara aracinin tasarimi ve yapilmasi

In recent years, unmanned vehicles have been quite popular for the researchers and that vehicles are still being developed by the researchers and engineers. Unmanned vehicle has to do all operations without operator and has all capabilities as the operator controlled. In this study, tracking of waypoint by autonomous unmanned ground vehicle (UGV) have been studied. For this purpose, designed and constructed unmanned ground vehicle location is obtained by using GPS and compass and the microcontroller is utilized as a control / decision makers. The working principle of unmanned ground vehicle is as follows: At the beginning, waypoints or earth coordinates are loaded to PIC microcontroller, GPS module calculates the new position for every 200 ms to find current angle between North and line between the current position and destination\waypoint. Compass module also calculates the current heading value that shows the angle between north and course. According to this data microprocessor compares the results and chooses the correct angle of servo that controls the direction of UGV. Besides, Kalman filter algorithm and a guidance system was applied to UGV. The tests and results are given at the end of study. This platform will be used as a test vehicle to improve capability of tracking waypoints and path following.