‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System
- 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.
Author: | Jannik RedeniusORCiD, Sven Belau, Daniel Irmer, Arno RuckelshausenORCiD, Rene Middelberg, Sebastian Spiekermann, Christian Bußmann, Till Sellschopp, Joachim Hertzberg |
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Title (English): | ‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System |
URN: | urn:nbn:de:bsz:959-opus-15851 |
ISBN: | 978-3-18-092361-1 |
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: | 2019 |
Release Date: | 2020/04/01 |
Tag: | Agricultural streering system; Gazebo; LiDAR; Robot operating system (ROS); Simulation and Modeling |
Volume: | 2361 |
Page Number: | 6 |
First Page: | 173 |
Last Page: | 178 |
Note: | 77th Int. Conference LAND.TECHNIK - Agricultural Engineering (AgEng) 2019, Hannover |
Faculties: | Fakultät IuI |
DDC classes: | 500 Naturwissenschaften und Mathematik / 500 Naturwissenschaften |
000 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik | |
Review Status: | Veröffentlichte Fassung/Verlagsversion |