Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter

Abstract

In this paper, the development and performance evaluation of a 4WD robot system designed to follow near-distance moving objects using a 2D LiDAR sensor are presented. The study incorporates identifier (ID) classification and a distance-based dynamic angle of 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. The experimental results demonstrate the potential applicability of these approaches in various industrial applications.

Keywords

• LiDAR sensor
• target tracking
• particle filtering
• proportional–derivative controller
• agricultural produce transportation