This preprint presents the current status of research into the development and application of an autonomous, self-driving compost turner. The aim is to overcome challenges in the composting industry, such as adverse working conditions, by automating the composting process. The preprint provides a comprehensive overview of the overall concept of the self-driving compost turner, including the hardware architecture with sensors, navigation module and control module. In addition, the methodical development of the architecture of concepts, models and their subsequent software integration in ROS using model-based systems engineering is described. The validation and verification of the overall system is carried out in an industrial environment using three scenarios. The capabilities of the compost turner are demonstrated by autonomously following predefined trajectories in the composting plant and performing the required composting tasks. The results show that the autonomous compost turner is capable of performing the required activities. In addition, the compost turner has intelligent processing capabilities for compost data as well as its transmission, visualization and storage in a cloud server. It is important to note that this work is a preprint that represents the current state of research. The authors aim to publish the full paper in a peer-reviewed journal in the near future.

翻译：本预印本介绍了自主驾驶式堆肥翻抛机开发及应用的研究现状。其目标是通过自动化堆肥过程，克服堆肥行业面临的工作环境恶劣等挑战。本文全面概述了自主驾驶式堆肥翻抛机的整体概念，包括配备传感器的硬件架构、导航模块与控制模块。此外，还阐述了采用基于模型的系统工程方法，对概念架构、模型及其后续在ROS中的软件集成进行系统开发的过程。整体系统的验证与确认在工业环境中通过三个场景完成。通过使堆肥翻抛机在堆肥厂自主沿预设轨迹行驶并执行所需堆肥任务，展示了其能力。结果表明，自主堆肥翻抛机能够完成所需活动。此外，该翻抛机具备堆肥数据的智能处理能力，并能将数据上传、可视化并存储于云服务器。需注意，本工作为反映当前研究状态的预印本。作者旨在近期于同行评审期刊上发表完整论文。