Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Construction or agricultural-type vehicle
Patent
1998-08-12
2000-07-11
Chin, Gary
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Construction or agricultural-type vehicle
172 45, G06F 1900
Patent
active
060886447
ABSTRACT:
In one embodiment of the present invention, an apparatus and method for determining a path or series of paths at a work site for a mobile machine capable of operating autonomously or semi-autonomously is provided. The present invention determines a series of rows that are substantially parallel to the machine's heading. The width of the rows is based on the width of the path worked by one or more of the machine's work implements. The work site is bounded by three or more corner points and the perimeter of the work site is defined by boundary lines connecting the corner points. A first line substantially perpendicular to the machine's heading is calculated starting at an initial corner point and ending at a terminal point along the line having a distance approximately equal to the width of the path. A second line parallel to the machine's heading and passing through the terminal point is determined. The points of intersection of the second line with the boundary lines are calculated and stored as end points of a first path. Endpoints of successive paths are found in a similar manner by incrementing the distance along the parallel line by the width of the work path.
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Brandt Everett G.
McGee Robert J.
Rockwood Brian D.
Caterpillar Inc.
Chin Gary
Myers Jeffrey L.
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