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 = {Thorsten Ropertz and Patrick Wolf and Karsten Berns},
Title = {Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments},
Booktitle = {Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)},
Year = {2017},
Pages = {513--524},
Editor = {Oleg Gusikhin and Kurosh Madani},
Volume = {1},
Address = {Madrid, Spain},
Month = {July 26--28},
Organization = {INSTICC},
Publisher = {SCITEPRESS {\textendash} Science and Technology Publications, Lda},
Note = {ISBN: 978-989-758-263-9; DOI: 10.5220/0006481405130524},