The feasibility of using ultrasonic-wave doppler sensors for a measurement of the actual ground speed of agricultural machines was investigated. The actual ground speed is estimated from the doppler shift frequencies of the two ultrasonic-waves transmitted to and received from a moving object. A prototype of the speed-measurement system was designed and constructed for the performance test. The measurement system showed a good performance with a flat surface at speeds lower than 3m/s. However, it was failed to receive the reflected signals from the rough and irregular soil surfaces. Further researches to solve this problem and to improve its performance are now underway.