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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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/1/317 |
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| author | Eun-Seong Pak Byeong-Hun Kim Kil-Soo Lee Yong-Chul Cha Hwa-Young Kim |
| author_facet | Eun-Seong Pak Byeong-Hun Kim Kil-Soo Lee Yong-Chul Cha Hwa-Young Kim |
| author_sort | Eun-Seong Pak |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-58d8a6452ad44c829ea59ef8baf560d4 |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-58d8a6452ad44c829ea59ef8baf560d42025-01-10T13:15:08ZengMDPI AGApplied Sciences2076-34172024-12-0115131710.3390/app15010317Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle FilterEun-Seong Pak0Byeong-Hun Kim1Kil-Soo Lee2Yong-Chul Cha3Hwa-Young Kim4Korea Construction Equipment Technology Institute, 36 Sandan-ro, Gunsan-si 54004, Jeonbuk-do, Republic of KoreaDeepLink, 96 Banyeo-ro, Haeundae-gu, Busan 48036, Republic of KoreaKorea Construction Equipment Technology Institute, 36 Sandan-ro, Gunsan-si 54004, Jeonbuk-do, Republic of KoreaKorea Construction Equipment Technology Institute, 36 Sandan-ro, Gunsan-si 54004, Jeonbuk-do, Republic of KoreaSchool of Mechanical Engineering, Pusan National University, 2 Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Republic of KoreaIn 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.https://www.mdpi.com/2076-3417/15/1/317LiDAR sensortarget trackingparticle filteringproportional–derivative controlleragricultural produce transportation |
| spellingShingle | Eun-Seong Pak Byeong-Hun Kim Kil-Soo Lee Yong-Chul Cha Hwa-Young Kim Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter Applied Sciences LiDAR sensor target tracking particle filtering proportional–derivative controller agricultural produce transportation |
| title | Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter |
| title_full | Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter |
| title_fullStr | Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter |
| title_full_unstemmed | Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter |
| title_short | Study on the Near-Distance Object-Following Performance of a 4WD Crop Transport Robot: Application of 2D LiDAR and Particle Filter |
| title_sort | study on the near distance object following performance of a 4wd crop transport robot application of 2d lidar and particle filter |
| topic | LiDAR sensor target tracking particle filtering proportional–derivative controller agricultural produce transportation |
| url | https://www.mdpi.com/2076-3417/15/1/317 |
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