Abstract
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.
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CITATION STYLE
Foldager, F. F., Larsen, P. G., & Green, O. (2018). Development of a driverless lawn mower using co-simulation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10729 LNCS, pp. 330–344). Springer Verlag. https://doi.org/10.1007/978-3-319-74781-1_23
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