Unimog U5023

Contact: Patrick Wolf, Steffen Hemer

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Description

The Unimog U5023 is a Mercedes Benz Special Trucks vehicle with a high level terrain mobility and a lot of possible applications. In the EFRE-supported lead project of the Commercial Vehicle Cluster Nutzfahrzeuge GmbHAutonomer Fahrbetrieb von Nutzfahrzeugen im Off-Road-Bereich am Beispiel des Unimogs” the Unimog represents a demonstration vehicle of the technical development of robust and secure navigation solutions of commercial vehicles in rough and unstructured terrain.

The Unimog is characterized by extreme off-road capability and a lot of envelopes like differential lock, central tire inflation system, high number of gears, frame torsion, centreline torsion and portal axle. The vehicle is very attractive for applied research because it is possible to drive through rough terrain that were not included in the previous research programs.

Compared to on-road applications, this off-road navigation is currently an unsolved research problem with high technical obstacles. Nevertheless, the legal regulations for the autonomous commercial vehicles in unstructured terrain are at a lower level, which is why those concepts are easier to commercialize.

The main theme of the research in combination with the Unimog is the progress of robust perception systems, which are providing the detection and evaluation of tracks and passages and statistically and dynamic obstacles. On top of that there are biological motivated methods for localisation and general quality assessment of the sensor system.

Especially in unstructured environment a robot system is often influenced and disturbed by noisy and faulty sensor measurements. In consideration of dynamically changing of the sensor data quality on navigation, it is possible to react to alternating environmental influence. Therefore a path planning can avoid dangerous areas like holes, obstacles, sliding away or tilting.

As part of the project, the U5023 was technically converted with a new steering and braking system to navigate the robot completely autonomic. The sensor system monitors the whole vehicle environment. That’s why certain trajectory in unstructured terrain can be calculated. Furthermore, a complex simulation of the Unimog was built, which includes all the envelopes and characteristics of the vehicle. On account of this, it is possible to simulate risky manoeuvres in heavy terrain before testing it in real life.

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Publikationen

2018

Philipp Feldmann
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Ontologies for Situation-Aware, Autonomous Navigation in Challenging Off-Road Environments
Master's Thesis, Robotics Research Lab, TU Kaiserslautern, 2018, November 16, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf
Simon Velden
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Multi Feature Maps for Autonomous Off-Road Navigation in Rough Environments
Master's Thesis, Robotics Research Lab, TU Kaiserslautern, 2018, June 06, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf
Thorsten Ropertz, Patrick Wolf, Karsten Berns
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Behavior-Based Low-Level Control for (semi-) Autonomous Vehicles in Rough Terrain
Proceedings of ISR 2018: 50th International Symposium on Robotics, VDE VERLAG GMBH, pp. 386--393, 2018, June 20--21, Munich, Germany, ISBN: 978-3-8007-4699-6
Patrick Wolf, Thorsten Ropertz, Moritz Oswald, Karsten Berns
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Local Behavior-Based Navigation in Rough Off-Road Scenarios based on Vehicle Kinematics
2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 719--724, 2018, May 21--25, Brisbane, Australia
Patrick Wolf, Thorsten Ropertz, Karsten Berns, Martin Thul, Peter Wetzel, Achim Vogt
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Behavior-Based Control for Safe and Robust Navigation of an Unimog in Off-Road Environments
Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium -- CVT 2018, Springer Vieweg, pp. 63--76, Commercial Vehicle Alliance Kaiserslautern (CVA), 2018, March 13--15, Kaiserslautern, Germany, ISBN 978-3-658-21299-5, DOI 10.1007/978-3-658-21300-8, URL: https://link.springer.com/content/pdf/10.1007%2F978-3-658-21300-8.pdf
Ganesh Sundaram
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Modelling and Simulation of Behaviour-Based Differential and Slippage Control for Unimog
Project Report, Robotics Research Lab, University of Kaiserslautern, 2018, January 31, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf

2017

Hannes Endres
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Geländerekonstruktion basierend auf 3D-Punktwolken
Bachelor's Thesis, Robotics Research Lab, University of Kaiserslautern, 2017, December 13, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf
Matthias Kremer
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Behavior-Based Navigation for Stuck Vehicles in Rough Off-Road Environments
Bachelor's Thesis, Robotics Research Lab, University of Kaiserslautern, 2017, October 05, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf
Karsten Berns, Patrick Wolf
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Autonomie in unwegsamem Gelände. Aktuelle Zwischenergebnisse des CVC-Leitprojekts zum autonomen Fahrbetrieb von Nutzfahrzeugen im Off-Road Bereich
in CVC News, vol. 2, pp. 8--11, 2017, September
Simon Velden
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Behavior-Based Gear Control for Rough Off-Road Environments
Project Report, Robotics Research Lab, University of Kaiserslautern, 2017, September 29, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf
Moritz Oswald
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Navigation in Unstructured Environments for the Cross Country Vehicle "Unimog"
Master's Thesis, Robotics Research Lab, University of Kaiserslautern, 2017, March 09, unpublished, supervised by Thorsten Ropertz