抄録
The main objective of this study is to design and develop the navigation system for Unmanned Grounded Vehicle (UGV) using the ultrasonic sensor and encoder. This study used the differential drive type mobile robot and the robot was equipped with five ultrasonic sensors, two units of DC geared motor with encoder and controller board. It was started with the enhancement of encoder and robot trajectory using UMBmark method. From this study, it was difficult to ensure that the motor speed has 100% efficiency by using this method. The study was also identified that UMBmark method failed to improve the motor speed as well. However, by using the CBmark method, the motor speed reading can be improved significantly. It's also enhanced the encoder reading while correcting the robot trajectory. The second model is used to enhance the ultrasonic sensor reading using Extended Hessian Normal Form Feature Prediction (EHNFP). This method managed to improve the ultrasonic sensor reading and extract the infinite plane. And, the last model is combined both sensors to perform localization system of the mobile robot using Extended Kalman Filter (EKP). It shows that the mobile robot can perform the basic task using localization system.
