Development of a Driverless Lawn Mower using Co-Simulation
| Autor: | Peter Gorm Larsen, Frederik F. Foldager, Ole Green |
|---|---|
| Přispěvatelé: | Cerone, Antonio, Roveri, Marco |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
VDM-RT
Computer science 020207 software engineering 02 engineering and technology Kinematics Vehicle dynamics Co-simulation 01 natural sciences INTO-CPS Lawn mower Control theory 0103 physical sciences Steering system 0202 electrical engineering electronic engineering information engineering Development (differential geometry) 010301 acoustics Simulation |
| Zdroj: | Foldager, F F, Larsen, P G & Green, O 2017, Development of a Driverless Lawn Mower using Co-Simulation . in 1st Workshop on Formal Co-Simulation of Cyber-Physical Systems : CoSim-CPS-A satellite event of SEFM2017 ., 5, Trento, Trento, Italy, 05/09/2017 . Aarhus University Foldager, F F, Larsen, P G & Green, O 2018, Development of a driverless lawn mower using co-simulation . in A Cerone & M Roveri (eds), Software Engineering and Formal Methods-SEFM 2017 Collocated Workshops : DataMod, FAACS, MSE, CoSim-CPS, and FOCLASA, Revised Selected Papers . vol. 10729, Springer, Lecture Notes in Computer Science, vol. 10729, pp. 330-344, 15th International Conference on Software Engineering and Formal Methods, SEFM 2017, Trento, Italy, 04/09/2017 . https://doi.org/10.1007/978-3-319-74781-1_23 Foldager, F F, Larsen, P G & Green, O 2017, ' Development of a Driverless Lawn Mower using Co-Simulation ', Paper presented at 1st Workshop on Formal Co-Simulation of Cyber-Physical Systems, Trento, Italy, 05/09/2017 . < https://drive.google.com/open?id=0B2ej7mC7hWVrNFA0MUVybUF2VTg > Software Engineering and Formal Methods ISBN: 9783319747804 SEFM Workshops |
| Popis: | 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 VDM-RT. 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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