‘Virtual harvesting' as a key element in the development of a novel LiDAR based combine harvester steering system
Autor(en): | Redenius, J. Belau, S. Irmer, D. Middelberg, R. Spiekermann, S. Bußmann, C. Sellschopp, T. Ruckelshausen, A. Hertzberg, J. |
Stichwörter: | Automobile steering equipment; Combines; Firmware; Harvesters; Harvesting; Optical radar; Software design; Software testing; Traction (friction); Turing machines; Virtual reality, Combine harvesters; Feature detection algorithm; Hardware interfaces; Machine modeling; MATLAB/ SIMULINK; Phenomenological approach; Software-in-the-loop simulations; Steering systems, MATLAB | Erscheinungsdatum: | 2019 | Herausgeber: | VDI Verlag GMBH | Journal: | VDI Berichte | Volumen: | 2019 | Ausgabe: | 2361 | Startseite: | 173 | Seitenende: | 178 | Zusammenfassung: | 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. © VDI Verlag GmbH · Düsseldorf 2019. |
Beschreibung: | Conference of 77th International Conference on Agricultural Engineering, LAND.TECHNIK AgEng 2019 ; Conference Date: 8 November 2019 Through 9 November 2019; Conference Code:259589 |
ISBN: | 9783180923390 9783180923406 9783180923413 9783180923420 9783180923437 9783180923451 9783180923468 9783180923475 9783180923482 9783180923499 9783180923505 9783180923512 9783180923529 9783180923536 9783180923543 9783180923567 9783180923574 9783180923581 9783180923598 9783180923604 9783180923611 9783180923628 9783180923635 9783180923642 9783180923659 9783180923666 |
ISSN: | 00835560 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85105994600&partnerID=40&md5=1114e0896bd11730e99e21a46b3af261 |
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