Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter
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...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/15/1/317 |
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| Summary: | 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. |
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| ISSN: | 2076-3417 |