Robotics Research Lab

Gator

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.

Contact

Videos

Publications

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  • Behavior-Based Obstacle Detection in Off-Road Environments Considering Data Quality.
    Patrick Wolf, Thorsten Ropertz and Karsten Berns
    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.
    Patrick Wolf, Thorsten Ropertz, Philipp Feldmann and Karsten Berns
    Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), S. 135 - 146. (2019)
  • Segmentation of Very Sparse and Noisy Point Clouds.
    Patrick Fleischmann and Karsten Berns
    ICACR 2019, S. 119 - 124. (2019)
  • Behavior-Based Low-Level Control for (semi-) Autonomous Vehicles in Rough Terrain.
    Thorsten Ropertz, Patrick Wolf and Karsten Berns
    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.
    Sebastian Mu?ller, Patrick Wolf, Karsten Berns and Peter Liggesmeyer
    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.
    Patrick Wolf, Thorsten Ropertz, Moritz Oswald and Karsten Berns
    2018 IEEE International Conference on Robotics and Automation (ICRA), S. 719 - 724. (2018)
  • Multi Feature Maps for Autonomous Off-Road Navigation in Rough Environments.
    Simon Velden
    (2018)
  • Ontologies for Situation-Aware, Autonomous Navigation in Challenging Off-Road Environments.
    Philipp Feldmann
    (2018)
  • Realistic Simulation of GPS Signal Quality for Autonomous Robots by using Virtual Satellites.
    Alexander Matheis
    (2018)
  • Object Tracking and Movement Prediction.
    Felix Hasselwander
    (2017)
  • Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments.
    Thorsten Ropertz, Patrick Wolf and Karsten Berns
    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.
    Patrick Fleischmann, Johannes Kneip and Karsten Berns
    Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016), (2016)
  • Structured Design of Quality-Sensitive Behavior-Based Perception Systems.
    Patrick Vatter
    (2016)
  • Using OpenStreetMap for Autonomous Mobile Robot Navigation.
    Patrick Fleischmann, Thomas Pfister, Moritz Oswald and Karsten Berns
    Proceedings of the 14th International Conference on Intelligent Autonomous Systems (IAS-14), (2016)
  • A Stereo Vision Based Obstacle Detection System for Agricultural Applications.
    Patrick Fleischmann and Karsten Berns
    Proceedings of Field and Service Robotics (FSR), (2015)

 

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