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‘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.

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Author:Jannik RedeniusORCiD, Sven Belau, Daniel Irmer, Arno RuckelshausenORCiD, Rene Middelberg, Sebastian Spiekermann, Christian Bußmann, Till Sellschopp, Joachim Hertzberg
Title (English):‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System
Parent Title (English):VDI-Berichte
Publisher:VDI Verlag GmbH
Place of publication:Düsseldorf
Document Type:Conference Proceeding
Year of Completion:2019
Release Date:2020/04/01
Tag:Agricultural streering system; Gazebo; LiDAR; Robot operating system (ROS); Simulation and Modeling
Page Number:6
First Page:173
Last Page:178
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