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Year of publication
Document Type
- Conference Proceeding (223) (remove)
Language
- English (223) (remove)
Is part of the Bibliography
- yes (223)
Keywords
- physiotherapy (5)
- Landscape Planning (3)
- performing artists (3)
- Climate Resilience (2)
- Gazebo (2)
- Green Fingers (2)
- Landscape Design (2)
- LiDAR (2)
- Mapping (2)
- Mobility (2)
Institute
Redenius, Jannik ; Belau, Sven ; Irmer, Daniel ; Ruckelshausen, Arno ; Middelberg, Rene ; Spiekermann, Sebastian ; Bußmann, Christian ; Sellschopp, Till ; Hertzberg, Joachim
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.