A Study on the Close-range Object Following the Performance of a 4WD Crop Transport Robot Using a 2D LiDAR Sensor and Particle Filter

This study develops and evaluates a 4WD robot system designed to follow moving objects using a 2D LiDAR sensor. The study incorporates identifier (ID) classification and a distance-based dynamic angle of the perception model to enhance the tracking capabilities of the 2D LiDAR sensor. A particle filter algorithm was utilized to verify the accuracy of object tracking. Furthermore, a proportional-derivative (PD) controller was designed and implemented to ensure the stability of the robot during operation. Experimental results demonstrate the potential applicability of these approaches in various industrial applications.