{"id":800,"date":"2026-06-12T15:22:10","date_gmt":"2026-06-12T07:22:10","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/gps-waypoint-navigation-ugv-arduino-autonomous-farsi\/"},"modified":"2026-06-12T15:22:11","modified_gmt":"2026-06-12T07:22:11","slug":"gps-waypoint-navigation-ugv-arduino-autonomous-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/gps-waypoint-navigation-ugv-arduino-autonomous-farsi\/","title":{"rendered":"\u0646\u0627\u0648\u0628\u0631\u06cc GPS \u062e\u0648\u062f\u06a9\u0627\u0631 UGV \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u2014 \u062f\u0646\u0628\u0627\u0644 \u06a9\u0631\u062f\u0646 Waypoint\u200c\u0647\u0627 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"<div class='hero-image-container' style='margin-bottom:28px;border-radius:14px;overflow:hidden;box-shadow:0 4px 18px rgba(0,0,0,0.08)'>\n<img src='https:\/\/projectleon.net\/make\/wp-content\/uploads\/2026\/06\/post156-gps-waypoint-ugv.jpg' alt='UGV GPS Waypoint \u0646\u0627\u0648\u0628\u0631\u06cc \u062e\u0648\u062f\u06a9\u0627\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648' style='width:100%;height:auto;display:block' loading='eager'\/>\n<\/div>\n<div class='beginner-intro' style='background:#f0f7ff;border-right:4px solid #2e5fb6;padding:16px 20px;border-radius:10px;margin-bottom:22px'>\n<h2 style='margin-top:0'>\u0646\u0627\u0648\u0628\u0631\u06cc Waypoint \u0686\u0637\u0648\u0631 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/h2>\n<p>\u062f\u0631 \u0646\u0627\u0648\u0628\u0631\u06cc Waypoint \u06cc\u06a9 \u0644\u06cc\u0633\u062a \u0627\u0632 \u0645\u062e\u062a\u0635\u0627\u062a GPS (latitude\/longitude) \u062f\u0627\u0631\u06cc\u0645. UGV \u0628\u0627\u06cc\u062f \u0627\u0632 \u0646\u0642\u0637\u0647 A \u0628\u0647 B \u0628\u0631\u0648\u062f\u060c \u0627\u0632 B \u0628\u0647 C \u0648 \u0627\u0644\u06cc \u0622\u062e\u0631. \u0628\u0631\u0627\u06cc \u0647\u0631 \u0645\u0631\u062d\u0644\u0647 \u0633\u0647 \u0686\u06cc\u0632 \u0644\u0627\u0632\u0645 \u0627\u0633\u062a: \u06f1) \u062f\u0627\u0646\u0633\u062a\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a \u0641\u0639\u0644\u06cc (GPS)\u060c \u06f2) \u0645\u062d\u0627\u0633\u0628\u0647 \u062c\u0647\u062a \u0644\u0627\u0632\u0645 \u0628\u0647 Waypoint \u0628\u0639\u062f\u06cc (\u0641\u0631\u0645\u0648\u0644 Haversine Bearing)\u060c \u06f3) \u0645\u0642\u0627\u06cc\u0633\u0647 \u0628\u0627 \u062c\u0647\u062a \u0641\u0639\u0644\u06cc (Compass \u06cc\u0627 GPS course) \u0648 \u0627\u0635\u0644\u0627\u062d \u0641\u0631\u0645\u0627\u0646.<\/p>\n<p><strong>\u0641\u0631\u0645\u0648\u0644 Haversine<\/strong> \u0641\u0627\u0635\u0644\u0647 \u062f\u0627\u06cc\u0631\u0647\u200c\u0628\u0632\u0631\u06af \u0628\u06cc\u0646 \u062f\u0648 \u0646\u0642\u0637\u0647 \u0631\u0648\u06cc \u06a9\u0631\u0647 \u0632\u0645\u06cc\u0646 \u0631\u0627 \u062d\u0633\u0627\u0628 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0628\u0631\u0627\u06cc UGV \u0632\u0645\u06cc\u0646\u06cc \u062f\u0631 \u0645\u0633\u0627\u0641\u062a\u200c\u0647\u0627\u06cc \u06a9\u0648\u062a\u0627\u0647 (\u0632\u06cc\u0631 \u06f1km) \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0627\u0632 \u062a\u0642\u0631\u06cc\u0628 \u0645\u0633\u062a\u0637\u06cc\u0644\u06cc (flat earth) \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0631\u062f.<\/p>\n<\/div>\n<h2>BOM<\/h2>\n<table style='width:100%;border-collapse:collapse;margin-bottom:18px'>\n<thead>\n<tr style='background:#e8f0fe'>\n<th style='padding:9px;border:1px solid #ddd;text-align:right'>\u0642\u0637\u0639\u0647<\/th>\n<th style='padding:9px;border:1px solid #ddd;text-align:right'>\u0642\u06cc\u0645\u062a<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td style='padding:8px;border:1px solid #ddd'>Arduino Mega 2560<\/td>\n<td style='padding:8px;border:1px solid #ddd'>~\u06f2\u06f5\u06f0K<\/td>\n<\/tr>\n<tr style='background:#fafafa'>\n<td style='padding:8px;border:1px solid #ddd'>GPS NEO-6M<\/td>\n<td style='padding:8px;border:1px solid #ddd'>~\u06f1\u06f5\u06f0K<\/td>\n<\/tr>\n<tr>\n<td style='padding:8px;border:1px solid #ddd'>Compass HMC5883L<\/td>\n<td style='padding:8px;border:1px solid #ddd'>~\u06f6\u06f0K<\/td>\n<\/tr>\n<tr style='background:#fafafa'>\n<td style='padding:8px;border:1px solid #ddd'>\u067e\u0644\u062a\u0641\u0631\u0645 UGV \u0627\u0632 \u067e\u0633\u062a \u06f1\u06f4\u06f8\/\u06f1\u06f4\u06f9<\/td>\n<td style='padding:8px;border:1px solid #ddd'>\u2014<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>\u06a9\u062f \u0646\u0627\u0648\u0628\u0631\u06cc Waypoint<\/h2>\n<pre style='background:#1e1e1e;color:#d4d4d4;padding:14px;border-radius:8px;font-size:12px;margin-bottom:18px'><code>#include &lt;TinyGPS++.h&gt;\n#include &lt;Wire.h&gt;\n#include &lt;QMC5883LCompass.h&gt;\n#include &lt;Servo.h&gt;\n\nTinyGPSPlus gps;\nQMC5883LCompass compass;\nServo steer;\n\n\/\/ ===== Waypoint\u200c\u0647\u0627 =====\nconst int NUM_WP = 3;\ndouble wpLat[] = {35.712500, 35.712800, 35.713100};\ndouble wpLng[] = {51.405200, 51.405600, 51.406000};\nint currentWP = 0;\n\nconst float ARRIVAL_RADIUS = 3.0;  \/\/ \u0645\u062a\u0631 \u2014 \u062f\u0631 \u0627\u06cc\u0646 \u0634\u0639\u0627\u0639 \u0628\u0647 Waypoint \u0631\u0633\u06cc\u062f\u06cc\u0645\nconst int   STEER_CENTER   = 90;\n\n\/\/ \u0641\u0627\u0635\u0644\u0647 \u0628\u06cc\u0646 \u062f\u0648 \u0646\u0642\u0637\u0647 GPS (\u0645\u062a\u0631)\nfloat gpsDist(double lat1, double lng1, double lat2, double lng2){\n  const float R = 6371000;\n  float dLat = radians(lat2-lat1);\n  float dLng = radians(lng2-lng1);\n  float a = sin(dLat\/2)*sin(dLat\/2) +\n            cos(radians(lat1))*cos(radians(lat2))*sin(dLng\/2)*sin(dLng\/2);\n  return R * 2 * atan2(sqrt(a),sqrt(1-a));\n}\n\n\/\/ \u062c\u0647\u062a \u0644\u0627\u0632\u0645 \u0627\u0632 \u0646\u0642\u0637\u0647 A \u0628\u0647 B (\u062f\u0631\u062c\u0647 \u0627\u0632 \u0634\u0645\u0627\u0644)\nfloat gpsBearing(double lat1, double lng1, double lat2, double lng2){\n  float dLng = radians(lng2-lng1);\n  float y = sin(dLng)*cos(radians(lat2));\n  float x = cos(radians(lat1))*sin(radians(lat2)) -\n            sin(radians(lat1))*cos(radians(lat2))*cos(dLng);\n  return fmod(degrees(atan2(y,x))+360, 360);\n}\n\nvoid setup(){\n  Serial1.begin(9600);  \/\/ GPS\n  compass.init();\n  steer.attach(10); steer.write(STEER_CENTER);\n}\n\nvoid loop(){\n  while(Serial1.available()) gps.encode(Serial1.read());\n\n  if(!gps.location.isValid() || currentWP >= NUM_WP) return;\n\n  float dist = gpsDist(gps.location.lat(), gps.location.lng(),\n                       wpLat[currentWP], wpLng[currentWP]);\n\n  if(dist < ARRIVAL_RADIUS){\n    currentWP++;  \/\/ Waypoint \u0631\u0633\u06cc\u062f\u06cc\u0645\n    return;\n  }\n\n  float targetBearing = gpsBearing(gps.location.lat(), gps.location.lng(),\n                                   wpLat[currentWP], wpLng[currentWP]);\n  compass.read();\n  float heading = compass.getAzimuth();\n\n  float error = targetBearing - heading;\n  if(error > 180)  error -= 360;\n  if(error < -180) error += 360;\n\n  int servoAngle = STEER_CENTER + constrain((int)(error*0.5), -35, 35);\n  steer.write(servoAngle);\n  \/\/ \u06af\u0627\u0632 \u0645\u0648\u062a\u0648\u0631 \u062b\u0627\u0628\u062a: drive(150, 150)\n}<\/code><\/pre>\n<h2>\u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u0646\u0627\u0648\u0628\u0631\u06cc<\/h2>\n<table style='width:100%;border-collapse:collapse;margin-bottom:18px'>\n<thead>\n<tr style='background:#e8f5e9'>\n<th style='padding:8px;border:1px solid #ddd;text-align:right'>\u062a\u0633\u062a<\/th>\n<th style='padding:8px;border:1px solid #ddd;text-align:right'>\u2713<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td style='padding:7px;border:1px solid #ddd'>GPS Fix \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0627\u0632 (LED\u0686\u0634\u0645\u06a9 \u0645\u06cc\u200c\u0632\u0646\u062f)<\/td>\n<td style='padding:7px;border:1px solid #ddd'>&#x2b1c;<\/td>\n<\/tr>\n<tr style='background:#fafafa'>\n<td style='padding:7px;border:1px solid #ddd'>Compass \u062f\u0631 \u0647\u0645\u0647 \u062c\u0647\u0627\u062a \u0639\u062f\u062f \u062f\u0631\u0633\u062a \u0645\u06cc\u200c\u062f\u0647\u062f<\/td>\n<td style='padding:7px;border:1px solid #ddd'>&#x2b1c;<\/td>\n<\/tr>\n<tr>\n<td style='padding:7px;border:1px solid #ddd'>gpsDist \u0628\u0647 \u0646\u0642\u0637\u0647 \u0645\u0639\u0644\u0648\u0645 \u2248 \u0628\u0627 Google Maps<\/td>\n<td style='padding:7px;border:1px solid #ddd'>&#x2b1c;<\/td>\n<\/tr>\n<tr style='background:#fafafa'>\n<td style='padding:7px;border:1px solid #ddd'>UGV \u0628\u0647 \u0627\u0648\u0644\u06cc\u0646 Waypoint \u0645\u06cc\u200c\u0631\u0633\u062f<\/td>\n<td style='padding:7px;border:1px solid #ddd'>&#x2b1c;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div style='display:grid;grid-template-columns:repeat(auto-fit,minmax(300px,1fr));gap:18px;margin:20px 0'>\n<iframe width='100%' height='280' src='https:\/\/www.youtube.com\/embed\/GpcBXWBXByQ' title='GPS Waypoint Navigation Arduino UGV' frameborder='0' allowfullscreen><\/iframe><br \/>\n<iframe width='100%' height='280' src='https:\/\/www.youtube.com\/embed\/BFXAhpGaqsA' title='Haversine Formula GPS Distance Bearing' frameborder='0' allowfullscreen><\/iframe>\n<\/div>\n<ul>\n<li><a href='https:\/\/www.movable-type.co.uk\/scripts\/latlong.html' target='_blank'>Movable Type: \u0641\u0631\u0645\u0648\u0644\u200c\u0647\u0627\u06cc Haversine \u0648 Bearing<\/a><\/li>\n<li><a href='https:\/\/www.aparat.com\/result\/%D9%86%D8%A7%D9%88%D8%A8%D8%B1%DB%8C+GPS+%D8%B1%D8%A8%D8%A7%D8%AA' target='_blank'>\u0622\u067e\u0627\u0631\u0627\u062a: \u0646\u0627\u0648\u0628\u0631\u06cc GPS \u0631\u0628\u0627\u062a<\/a><\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u0622\u0645\u0648\u0632\u0634 \u0633\u0627\u062e\u062a UGV \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0627 GPS: \u0630\u062e\u06cc\u0631\u0647 Waypoint \u062f\u0631 EEPROM\u060c \u0645\u062d\u0627\u0633\u0628\u0647 \u0641\u0627\u0635\u0644\u0647 \u0648 \u0632\u0627\u0648\u06cc\u0647 \u0628\u0627 Haversine\u060c \u06a9\u0646\u062a\u0631\u0644 \u0633\u0631\u0648 \u0641\u0631\u0645\u0627\u0646 \u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0631\u0627\u06cc \u0631\u0633\u06cc\u062f\u0646 \u0628\u0647 \u0645\u062e\u062a\u0635\u0627\u062a GPS.<\/p>\n","protected":false},"author":1,"featured_media":799,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"pagelayer_contact_templates":[],"_pagelayer_content":"","footnotes":""},"categories":[19,16],"tags":[590,587,589,82,48,21,487,588],"class_list":["post-800","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tutorials-2","category-ugv","tag-eeprom","tag-gps-waypoint","tag-haversine","tag-neo-6m","tag-ugv","tag-arduino","tag-487","tag-588"],"_links":{"self":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/800","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/comments?post=800"}],"version-history":[{"count":1,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/800\/revisions"}],"predecessor-version":[{"id":801,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/800\/revisions\/801"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/media\/799"}],"wp:attachment":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/media?parent=800"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/categories?post=800"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/tags?post=800"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}