Development of a Driverless Lawn Mower Using Co-simulation

被引：5

作者：

Foldager, Frederik F. ^{[1
]}

Larsen, Peter Gorm ^{[2
]}

Green, Ole ^{[1
]}

机构：

[1] Agro Intelligence, Agro Food Pk 13, DK-8200 Aarhus N, Denmark

[2] Aarhus Univ, Dept Engn, Aarhus, Denmark

来源：

SOFTWARE ENGINEERING AND FORMAL METHODS, SEFM 2017 | 2018年 / 10729卷

基金：

欧盟地平线“2020”;

关键词：

Co-simulation; Vehicle dynamics; VDM-RT; INTO-CPS;

D O I：

10.1007/978-3-319-74781-1_23

中图分类号：

TP31 [计算机软件];

学科分类号：

081205 [计算机软件];

摘要：

This work examines the use of co-simulation in the development and optimisation of a steering system for a driverless industrial size lawn mower. Initial models of the kinematics, dynamics and steering control system are co-simulated to investigate the performance of the controller in a virtual setting. The co-simulation consists of a Continuous Time (CT) model of the lawn mower kinematics and dynamics and a Discrete-Event (DE) model of the steering controller modelled in VDMRT. The models are co-simulated by the use of the Co-simulation Orchestration Engine which is a core tool of the INTO-CPS project. The CT model of the lawn mower is calibrated and verified experimentally. The result of co-simulation is in a similar fashion verified by comparing the simulated and measured trajectories.

引用

页码：330 / 344

页数：15

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