TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Redenius, Jannik
A1  - Belau, Sven
A1  - Irmer, Daniel
A1  - Ruckelshausen, Arno
A1  - Middelberg, Rene
A1  - Spiekermann, Sebastian
A1  - Bußmann, Christian
A1  - Sellschopp, Till
A1  - Hertzberg, Joachim
T1  - ‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System
T2  - VDI-Berichte
N2  - This paper describes the development and test of a novel LiDAR based combine harvester steering system using a harvest scenario and sensor point cloud simulation together with an established simulation toolchain for embedded software development. For a realistic sensor behavior simulation, considering the harvesting environment and the sensor mounting position, a phenomenological approach was chosen to build a multilayer LiDAR model at system level in Gazebo and ROS. A software-in-the-loop simulation of the mechatronic steering system was assembled by interfacing the commercial AppBase framework for point cloud processing and feature detection algorithms together with a machine model and control functions implemented in MATLAB/ Simulink. A test of ECUs in a hardware-in-the-loop simulation and as well as HMI elements in a driver-in-the-loop simulation was achieved by using CAN hardware interfaces and a CANoe based restbus simulation.
KW  - LiDAR
KW  - Agricultural streering system
KW  - Simulation and Modeling
KW  - Robot operating system (ROS)
KW  - Gazebo
Y1  - 2019
U6  - https://nbn-resolving.org/urn:nbn:de:bsz:959-opus-15851
UN  - https://nbn-resolving.org/urn:nbn:de:bsz:959-opus-15851
SN  - 0083-5560
SS  - 0083-5560
SN  - 978-3-18-092361-1
SB  - 978-3-18-092361-1
N1  - 77th Int. Conference LAND.TECHNIK - Agricultural Engineering (AgEng) 2019, Hannover
VL  - 2361
SP  - 173
EP  - 178
S1  - 6
PB  - VDI Verlag GmbH
CY  - Düsseldorf
ER  -