Redenius, Jannik
[Author];
Belau, Sven
[Author];
Irmer, Daniel
[Author];
Ruckelshausen, Arno
[Author];
Middelberg, Rene
[Author];
Spiekermann, Sebastian
[Author];
Bußmann, Christian
[Author];
Sellschopp, Till
[Author];
Hertzberg, Joachim
[Author]
‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System
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Media type:
Electronic Conference Proceeding
Title:
‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System
Contributor:
Redenius, Jannik
[Author];
Belau, Sven
[Author];
Irmer, Daniel
[Author];
Ruckelshausen, Arno
[Author];
Middelberg, Rene
[Author];
Spiekermann, Sebastian
[Author];
Bußmann, Christian
[Author];
Sellschopp, Till
[Author];
Hertzberg, Joachim
[Author]
imprint:
Düsseldorf : VDI Verlag GmbH, 2019
Language:
English
ISBN:
978-3-18-092361-1
Origination:
Footnote:
Diese Datenquelle enthält auch Bestandsnachweise, die nicht zu einem Volltext führen.
Description:
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.