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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. [ABSTRACT FROM AUTHOR]