The system autonomously plans the path and adjusts the following strategy through real-time perception of the environment and analysis of the target behavior, for example, military unmanned vehicles autonomously follow soldiers in complex terrain without remote control operation.Its technical implementation is divided into perception layer, decision-making layer and control layer: the perception layer improves positioning accuracy through multi-sensor fusion of LIDAR, depth camera, millimeter-wave radar, etc., and identifies the target based on the AI model; the decision-making layer utilizes algorithms such as A* and RRT* to perform dynamic path planning, and combines LSTM to predict the target trajectory; the control layer regulates the movement through a PID controller or a model prediction control, and at the same time has an Emergency response mechanism to cope with unexpected situations such as target loss.

The main applications are in military, industrial, extreme environment, medical, agriculture and animal husbandry.

In the military field, unmanned combat vehicles can autonomously follow soldiers across the battlefield, transport equipment or perform reconnaissance missions.

In the industrial field, intelligent AGVs dynamically adjust their paths to follow workers to carry materials, and mining equipment autonomously follows construction vehicles in dangerous areas.

In the medical field, smart wheelchairs autonomously follow users through voice commands, and rehabilitation robots provide dynamic support during walking training.

In the field of agriculture, autonomous harvesting robots synchronously follow field operations to complete the harvest.

In addition to the above fields, it is also commonly used in factories, logistics, warehouses, greenhouses, supermarkets and other scenes that require frequent changes in location and frequent picking and dropping off of goods, and can also be followed automatically by multiple vehicles, which greatly improves work efficiency and reduces work intensity. At the same time, this technology can also be applied to trucks, wheelchairs, vacuum trucks, shopping carts, luggage trolleys, tool carts, golf bags and other fields, can provide different customers with automatic following industry solutions.

Adopting the domestic first mobile plane 360 degree positional positioning technology, realize the relative positional positioning of the following host carried by the person and the following slave installed on the trolley. Combined with the special motion algorithm of the whole vehicle controller to realize the motion control of the cart such as accelerating, decelerating, turning left, turning right, braking, etc. and the ultrasonic motion algorithm and other comprehensive technologies, to achieve the autonomous obstacle avoidance function of the cart to realize the safe following of the cart! The basic principle is as follows:

X5 Follow Label Parameter List
Model No.	UWBX5 AOA WB	UWB X5 AOA YK
Picture
Finished size	43x50x15mm	80x38x16mm
Product weight	39g	30g
Waterproof rating	IP65	IP63
Charging Method	Magnetic Cable Charging	Type-C 5V Charging
Battery Capacity	450mAH	400mAH
Charging time	<2 hours
Communication Distance	>30 meters in the open
Antenna Direction	Built-in antenna omni-directional
Frequency range	CH9(7987.2MHz)(meet the requirements of MIIT)
Product Brand	Xspirebot
Measurement error	<10CM
Angle error	<5°
Operating Temperature	-20℃~+65℃
Application Scenario	Following Scenario (Combined with BTS)

X5 Follower Base Station Parameter List
Model No.	UWB X5 AOA N
Picture
Finished size	70x80x23mm
Weight	45g
Waterproof rating	IP64
Positioning Angle	>30 meters open visibility
Communication mode	UART-TTL
Power supply	Type-C 5V power supply
Mounting method	Ear mounting M3 fixing hole mounting
Frequency range	CH9(7987.2MHz)(in accordance with the requirements of the Ministry of Industry and Information Technology)
Product Brand	Xspirebot
easurement error	<10CM
Angle error	<5°
Operating Temperature	-20℃~+65℃
Application Scenario	Following Scenario (combined with labeling)