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.
Author: | Jannik RedeniusORCiD, Matthias Dingwerth, Arno RuckelshausenORCiD, Joachim Hertzberg, Thilo Krause, Boris Kettelhoit |
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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 |
Page Number: | 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 |