Virtual testing ground for the development of control systems for unmanned vehicles in agriculture
Kirill V. Sviatov, Ivan Rubtcov, А. В. Пономарев · E3S Web of Conferences · 2023
The article describes the technology for deploying and programmatically setting up a virtual test environment for testing algorithms for ground-based agricultural unmanned vehicles. The fields2cover library is used to plan the path, and the Webots simulator integrated with the robot operating system is used as the basis for the test suite. The main task to be solved is to match the coordinate system of the path through the field and the coordinate system of the virtual autonomous vehicle. It also describes the process of creating digital maps using OpenSrtreetMap, converting them into the necessary formats for generating a route in the fields2cover library, and setting up a simulator based on Webots. The work is relevant for educational purposes and is of interest to developers involved in the design of autonomous vehicles.