Contact: Patrick Fleischmann, Thorsten Ropertz, Patrick Wolf

Further Information


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 vehicle is 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 Wolf and Thorsten Ropertz and Moritz Oswald and Karsten Berns},
Title = {Local Behavior-Based Navigation in Rough Off-Road Scenarios based on Vehicle Kinematics},
Booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
Year = {2018},
Pages = {719--724},
Address = {Brisbane, Australia},
Month = {May 21--25},