‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System
In 77th Int. Conference LAND.TECHNIK, (LAND.TECHNIK-2019), 08.11.-09.11.2019, Hannover, vdi Verlag, number 2361, pages 173-178, Nov/2019. vdi. ISBN: 978-3-18-092361-1.
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.
Agricultural streering system; Gazebo; LiDAR; Robot operating system (ROS); Simulation and Modeling