Work

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

Year: 2024

Type: article

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. Experimental results demonstrate the potential applicability of these approaches in various industrial applications.

Source: Applied Sciences

DOI: 10.3390/app15010317

Authors: Eun-Seong Pak, Byeong-Hun Kim, Kil-Soo Lee, Yong-Chul Cha, Hwa-Young Kim

Institutions: Korea Construction Equipment Technology Institute, Pusan National University

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,728

Funder: Ministry of Agriculture, Food and Rural Affairs