Open AccessSimulation of the automated motion of a robotic agricultural vehicle
Author(s) -
С. В. Сусарев,
С. П. Орлов,
O Ja Kravets,
A. S. Morev
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/862/5/052008
Subject(s) - chassis , simulation , computer science , control engineering , robot , automotive engineering , engineering , artificial intelligence , aerospace engineering
The report explored the problem of digital testing of a robotic agricultural vehicle. The approach to representing the robotic chassis as a cyber-physical system is to build a complex of digital models of units and built-in measuring tools for monitoring physical processes. Based on a model-oriented approach, a digital twin of a robotic chassis for diagnostics and forecasting was built. Information from the vehicle’s on-board measurement system is used to continuously correct model parameters. Models of a car driver, chassis, individual units, and subsystems have been developed. A car model with fifteen degrees of freedom is described. The simulation results for various scenarios of the movement of a robotic vehicle are presented. The simulation results were used in the design of the KAMAZ unmanned vehicle for agricultural purposes.