Co-modelling of Agricultural Robotic Systems
release_zujzved7ufgehmqqggkelayhom
by
Martin Peter Christiansen
2019
Abstract
Automated and robotic ground-vehicle solutions are gradually becoming part of
the agricultural industry, where they are used for performing tasks such as
feeding, herding, planting, harvesting, and weed spraying. Agricultural
machinery operates in both indoor and outdoor farm environments, resulting in
changing operational conditions. Variation in the load transported by
ground-vehicles is a common occurrence in the agricultural domain, in tasks
such as animal feeding and field spraying. The development of automated and
robotic ground-vehicle solutions for conditions and scenarios in the
agricultural domain is a complex task, which requires input from multiple
engineering disciplines. This PhD thesis proposes modelling and simulation for
the research and development of automated and robotic ground-vehicle solutions
for purposes such as component development, virtual prototype testing, and
scenario evaluation. The collaboration of multiple engineering disciplines is
achieved by combining multiple modelling and simulation tools from different
engineering disciplines. These combined models are known as co-models and their
execution is referred to as co-simulation. The results of this thesis are a
model-based development methodology for automated and robotic ground-vehicles
utilised for a number of research and development cases. The co-models of the
automated and robotic ground vehicles were created using the model-based
development methodology, and they contribute to the future development support
in this research domain. The thesis presents four contributions toward the
exploration of a chosen design space for an automated or robotic ground
vehicle. Solutions obtained using co-modelling and co-simulation are deployed
to their ground-vehicle realisations, which ensures that all stages of
development are covered.
In text/plain
format
Archived Files and Locations
application/pdf 10.2 MB
file_v5hq2abamjhp3paksm57ykc6gi
|
arxiv.org (repository) web.archive.org (webarchive) |
1906.05111v1
access all versions, variants, and formats of this works (eg, pre-prints)