Controlling ground engaging elements based on images

A method of adjusting a controllable subsystem on a mobile vehicle comprising:

• receiving a first image of a worksite, captured at a first time;
• receiving a second image of the worksite, captured at a second time, wherein the second time is different from the first time;
• generating, using a processor, a differential soil parameter map of the worksite, wherein the differential soil parameter map is generated by analyzing the first and second images and deriving soil parameter information for the worksite;
• generating a prescription for controlling a controllable subsystem, based on the differential map, wherein the prescription prescribes operation of the controllable subsystem within the worksite;
• generating a control signal based on the prescription and based on a location of the mobile machine in the worksite;
• and
• controlling the controllable subsystem based on the control signal.

A method for generating a route for a mobile vehicle through a worksite, the method comprising:

• receiving a geo-referenced indication of a soil moisture content for the worksite;
• receiving a route specification corresponding to the mobile vehicle, wherein the route specification comprises a start point and an endpoint;
• identifying suitable route information based on the geo-referenced indication of soil moisture content and a machine parameter indicative of a machine characteristic that affects an ability of the mobile vehicle to traverse soil based on soil moisture;
• generating the route based on the suitable route information and the route specification;
• and
• controlling the mobile vehicle to navigate through the worksite based on the generated route.