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A multilevel simulation framework for highly automated harvest processes enabled by environmental sensor systems

  • 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.

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Metadaten
Author:Jannik RedeniusORCiD, Matthias Dingwerth, Arno RuckelshausenORCiD, Joachim Hertzberg, Thilo Krause, Boris Kettelhoit
Title (English):A multilevel simulation framework for highly automated harvest processes enabled by environmental sensor systems
URN:urn:nbn:de:bsz:959-opus-15841
ISBN:978-3-18-092300-0
ISSN:0083-5560
Parent Title (English):VDI-Berichte
Publisher:VDI Verlag GmbH
Place of publication:Düsseldorf
Document Type:Conference Proceeding
Language:English
Year of Completion:2017
Release Date:2020/04/01
Tag:Agricultural Automation; Gazebo; LiDAR; Robot operating system (ROS); Simulation and Modeling
Volume:2300
Pagenumber:7
First Page:157
Last Page:163
Note:
75th Int. Conference LAND.TECHNIK - Agricultural Engineering (AgEng) 2017, Hannover
Faculties:Fakultät IuI
DDC classes:500 Naturwissenschaften und Mathematik / 500 Naturwissenschaften
000 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Review Status:Veröffentlichte Fassung/Verlagsversion
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