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 = {Thorsten Ropertz and Patrick Wolf and Karsten Berns},
Title = {Behavior-Based Low-Level Control for (semi-) Autonomous Vehicles in Rough Terrain},
Booktitle = {Proceedings of ISR 2018: 50th International Symposium on Robotics},
Year = {2018},
Pages = {386--393},
Address = {Munich, Germany},
Month = {June 20--21},
Publisher = {VDE VERLAG GMBH},
Note = {ISBN: 978-3-8007-4699-6},