System and method for autonomous operation of a machine

• Main Authors: Graves, Ian, Martin, Rob, Adams, Brian, Pfursich, Scott, Schlacks, IV, Dianics, James
• Format: Patent
• Language: English
• Published: 29.02.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

A system for controlling movement of an articulated vehicle comprising a front compartment and a rear compartment connected by an articulating joint, comprising: a robotics processing unit configured to generate control data to cause movement of the articulated vehicle between a plurality of waypoints along a planned command path within an autonomous operating zone, wherein the control data for each waypoint is generated by: identifying a plurality of lines including (a) a zero body angle heading line of the articulated vehicle, (b) a front vector line of the front compartment, (c) a rear vector line of the rear compartment, and (d) a waypoint line from the articulated joint to the waypoint; calculating a plurality of angles including (a) a body angle between the front vector line and the rear vector line, (b) a front line-of-sight angle between the front vector line and the waypoint line, (c) a rear line-of-sight angle between the rear vector line and the waypoint line, (d) a zero body angle heading forward, and (e) a zero body angle heading reverse; utilizing the calculated angles to generate the control data for the waypoint; and a controller configured to utilize the control data generated by the robotics processing unit to control operation of the articulated vehicle so that the articulated vehicle travels the planned command path within the autonomous operating zone. 1flflq9RiF2