@inproceedings{RedeniusBelauIrmeretal.2019,
  author    = {Redenius, Jannik and Belau, Sven and Irmer, Daniel and Ruckelshausen, Arno and Middelberg, Rene and Spiekermann, Sebastian and Bußmann, Christian and Sellschopp, Till and Hertzberg, Joachim},
  title     = {'Virtual Harvesting' as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System},
  booktitle = {VDI-Berichte},
  volume    = {2361},
  isbn      = {978-3-18-092361-1},
  issn      = {0083-5560},
  institution = {Fakult{\"a}t IuI},
  pages     = {173 -- 178},
  year      = {2019},
  abstract  = {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.},
  language  = {en}
}