The robot is based on a John Deere XUV 855D Gator. The vehicle is equipped with a 17 kW diesel engine, an automatic gearbox, an on-demand true four-wheel drive system and 4 fully independent dual A-arm suspensions which makes it especially suitable for rough terrain. Additionally, a Drive-by-Wire system has been added to the car which turns the series model into an autonomous one. Based on this modification, the Gator is completely controllable by a computer which comprises gas, brakes, steering, gear shift and also the lights and the ignition.

The front side of the vehicleis equipped with a bunch of sensors which are evaluated in the forest and the field, e.g. two stereo and two time-of-flight cameras.




Author = {Patrick Vatter},
Title = {Structured Design of Quality-Sensitive Behavior-Based Perception Systems},
School = {Robotics Research Lab, University of Kaiserslautern},
Year = {2016},
Type = {Master{\textquoteright}s Thesis},
Month = {April 29},
Note = {unpublished},