GATOR

Contact: Patrick Fleischmann, Thorsten Ropertz, Patrick Wolf

Further Information

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.

Images

Videos

Publications

@inproceedings{Mueller18,
Author = {Sebastian Müller and Patrick Wolf and Karsten Berns and Peter Liggesmeyer},
Title = {Combining Behavior-Based and Contract-Based Control Architectures for Behavior Optimization of Networked Autonomous Vehicles in Unstructured Environments},
Booktitle = {Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium -- CVT 2018},
Year = {2018},
Pages = {324--335},
Editor = {Karsten Berns and Klaus Dressler and Patrick Fleischmann and Daniel G{\"o}rges and Ralf Kalmar and Bernd Sauer and Nicole Stephan and Roman Teutsch and Martin Thul},
Address = {Kaiserslautern, Germany},
Month = {March 13--15},
Organization = {Commercial Vehicle Alliance Kaiserslautern (CVA)},
Publisher = {Springer Vieweg},
Note = {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},
}