How MuCAR won the convoy scenario at ELROB 2016

Team MuCAR participated in the convoy scenario within the ELROB 2016 robotics trial and achieved the best score overall. This paper describes the hard- and software system of MuCAR, our new multi-sensor data fusion method as well as the challenging situations during the competition. The competition took place in an unstructured environment without lane markings and with dynamic objects. Autonomous following of a specific convoy leader and detecting hazardous environments in the form of ERICard associated warning signs were the main tasks of the convoy scenario. In order to achieve high robustness, we present a module which fuses the measurement data of different sensors and tracking modules at object level. In comparison to other participants, our team was able to drive the course without any manual interventions. Additionally, we were the only team which could detect all ERICards completely autonomously.