It can be widely applied in the military, public security, nuclear chemical industry, archaeology, exploration, emergency rescue, construction sites, petrochemical construction sites, special disaster scenes, etc. In these operation sites, complex terrains are common, and it is impossible to create maps and locate positions in advance, and materials need to be transported safely. The companion transportation robot can effectively achieve adaptability to complex terrains, and complete the task of accompanying and carrying objects by combining lidar, UWB (Ultra-Wideband) and visual assistance. It can assist on-site workers in autonomously following and transporting materials in complex terrains, effectively reducing the labor intensity of personnel.