TY - CHAP U1 - Konferenzveröffentlichung A1 - Redenius, Jannik A1 - Dingwerth, Matthias A1 - Ruckelshausen, Arno A1 - Hertzberg, Joachim A1 - Krause, Thilo A1 - Kettelhoit, Boris T1 - A multilevel simulation framework for highly automated harvest processes enabled by environmental sensor systems T2 - VDI-Berichte N2 - This article proposes the concept of a simulation framework for environmental sensors with multilevel abstraction in agricultural scenarios. The implementation case study is a simulation of a grain-harvesting scenario enabled by LiDAR sensors. Environmental sensor models as well as kinematics and dynamic behavior of machines are based on the robotics simulator Gazebo. Models for powertrain, machine process aggregates and peripheral simulation components are implemented with the help of MATLAB/ Simulink and with the robotics middleware Robot Operating System (ROS). This article deals with the general concept of a multilevel simulation framework and in particular with sensor and environmental modeling. KW - LiDAR KW - Agricultural Automation KW - Simulation and Modeling KW - Robot operating system (ROS) KW - Gazebo Y1 - 2017 U6 - https://nbn-resolving.org/urn:nbn:de:bsz:959-opus-15841 UN - https://nbn-resolving.org/urn:nbn:de:bsz:959-opus-15841 SN - 0083-5560 SS - 0083-5560 SN - 978-3-18-092300-0 SB - 978-3-18-092300-0 N1 - 75th Int. Conference LAND.TECHNIK - Agricultural Engineering (AgEng) 2017, Hannover VL - 2300 SP - 157 EP - 163 S1 - 7 PB - VDI Verlag GmbH CY - Düsseldorf ER -