Description
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.
Videos
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Publications
- Drive on Pedestrian Walk. TUK Campus Dataset.
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), S. 3822 - 3828. (2021) - Behavior-Based Obstacle Detection in Off-Road Environments Considering Data Quality.
Informatics in Control, Automation and Robotics, Vol. 495, S. 786 - 809. (2020) - Combining Onthologies and Behavior-Based Control for Aware Navigation in Challenging Off-Road Environments.
Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), S. 135 - 146. (2019)
DOI: 10.5220/0007934301350146, ISBN: 9789897583803 - Generation of Elevation Maps for Planning and Navigation of Vehicles in Rough Natural Terrain.
Advances in Service and Industrial Robotics, Vol. 980, S. 488 - 495. (2019)
https://doi.org/10.1007/978-3-030-19648-6_56 ISBN: 978-3-030-19648-6 - Segmentation of Very Sparse and Noisy Point Clouds.
ICACR 2019, S. 119124. (2019) - Behavior-Based Low-Level Control for (semi-) Autonomous Vehicles in Rough Terrain.
Proceedings of ISR 2018, S. 386 - 393. (2018) - Combining Behavior-Based and Contract-Based Control Architectures for Behavior Optimization of Networked Autonomous Vehicles in Unstructured Environments.
Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, S. 324 - 335. (2018) - Local Behavior-Based Navigation in Rough Off-Road Scenarios based on Vehicle Kinematics.
2018 IEEE International Conference on Robotics and Automation (ICRA), S. 719 - 724. (2018)
DOI: 10.1109/ICRA.2018.8460631 - Multi Feature Maps for Autonomous Off-Road Navigation in Rough Environments.
(2018) - Ontologies for Situation-Aware, Autonomous Navigation in Challenging Off-Road Environments.
(2018) - Realistic Simulation of GPS Signal Quality for Autonomous Robots by using Virtual Satellites.
(2018) - Object Tracking and Movement Prediction.
(2017) - Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments.
Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Vol. 1, S. 513 - 524. (2017) - An Adaptive Detection Approach for Autonomous Forest Path Following using Stereo Vision.
Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016), (2016) - Structured Design of Quality-Sensitive Behavior-Based Perception Systems.
(2016) - Using OpenStreetMap for Autonomous Mobile Robot Navigation.
Proceedings of the 14th International Conference on Intelligent Autonomous Systems (IAS-14), (2016) - A Stereo Vision Based Obstacle Detection System for Agricultural Applications.
Proceedings of Field and Service Robotics (FSR), (2015)