Collaborative model based design of automated and robotic agricultural vehicles in the Crescendo Tool

TL;DR

This paper presents a collaborative modelling approach using the Crescendo tool for designing automated agricultural vehicles, enabling multidisciplinary cooperation and iterative development from problem definition to deployment.

Contribution

It introduces a methodology for developing co-models in agricultural vehicle design, supported by a template library and illustrated through real-world case studies.

Findings

Successful development of an adaptive speed controller for a differential driven vehicle.

Integration of human control interfaces with co-simulation for robotic operation.

Demonstration of collaborative design process in agricultural robotics.

Abstract

This paper describes a collaborative modelling approach to automated and robotic agricultural vehicle design. The Cresendo technology allows engineers from different disciplines to collaborate and produce system models. The combined models are called co-models and their execution co-simulation. To support future development efforts a template library of different vehicle and controllers types are provided. This paper describes a methodology to developing co-models from initial problem definition to deployment of the actual system. We illustrate the development methodology with an example development case from the agricultural domain. The case relates to an encountered speed controller problem on a differential driven vehicle, where we iterate through different candidate solutions and end up with an adaptive controller solution based on a combination of classical control and learning feedforward. The second case is an example of combining human control interface and co-simulation of agricultural robotic operation to illustrate collaborative development