Development of a Driverless Lawn Mower Using Co-simulation

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.

[1]  Kenneth Pierce,et al.  Design Space Exploration for Embedded Systems Using Co-simulation , 2014, Collaborative Design for Embedded Systems.

[2]  Aki Mikkola,et al.  Behavior of thin rectangular ANCF shell elements in various mesh configurations , 2014 .

[3]  David Broman,et al.  Co-simulation: State of the art , 2017, ArXiv.

[4]  Nick Battle,et al.  The overture initiative integrating tools for VDM , 2010, ACM SIGSOFT Softw. Eng. Notes.

[5]  Young-Joo Kim,et al.  Development of a Path Generation and Tracking Algorithm for a Korean Auto-guidance Tillage Tractor , 2013 .

[6]  Jim Woodcock,et al.  Integrated tool chain for model-based design of Cyber-Physical Systems: The INTO-CPS project , 2016, 2016 2nd International Workshop on Modelling, Analysis, and Control of Complex CPS (CPS Data).

[7]  Andreas Junghanns,et al.  The Functional Mockup Interface for Tool independent Exchange of Simulation Models , 2011 .

[8]  Alie El-Din Mady,et al.  Collaborative Model‐based Systems Engineering for Cyber‐Physical Systems, with a Building Automation Case Study , 2016 .

[9]  Jim Woodcock,et al.  Cyber-Physical Systems Design: Formal Foundations, Methods and Integrated Tool Chains , 2015, 2015 IEEE/ACM 3rd FME Workshop on Formal Methods in Software Engineering.

[10]  Stefan Staicu.  Dynamics equations of a mobile robot provided with caster wheel , 2009 .

[11]  Hammad Mazhar,et al.  Chrono: An Open Source Multi-physics Dynamics Engine , 2015, HPCSE.

[12]  Jozef Hooman,et al.  Modeling and Validating Distributed Embedded Real-Time Systems with VDM++ , 2006, FM.

[13]  Peter Gorm Larsen,et al.  Collaborative Design for Embedded Systems , 2014, Springer Berlin Heidelberg.

[14]  Roland Siegwart,et al.  Introduction to Autonomous Mobile Robots , 2004 .