System and method for material disposal

A method of operating an autonomous earthmoving machine to move material from a work area to either of a first dump location and a second dump location based on cost, the method comprising:

• generating a first cost of moving the material from the work area to the first dump location based at least in part on a profile of the first ground surface between the work area and the first dump location,
• wherein the first ground surface comprises an inclined surface and a flat surface extending from the inclined surface;
• generating a second cost of moving the material from the work area to the second dump location based at least in part on a profile of a second ground surface, between the work area and the second dump location, and a compensating factor,
• wherein the second ground surface comprises an inclined surface and an elevated surface extending from the inclined surface, and
• wherein the compensating factor is determined based on operational characteristics of the autonomous earthmoving machine;
• determining that the first cost is less than the second cost;
• selecting the first dump location, from the first dump location and the second dump location, for dumping the material from the work area based on determining that the first cost is less than the second cost;
• and
• sending instructions to the autonomous earthmoving machine to move the material from the work area to the first dump location based on selecting the first dump location.

An autonomous earthmoving machine comprising:

• a ground engaging work implement for engaging ground surfaces of a work area;
• and
• a control system for operating the autonomous earthmoving machine to move material, by using the ground engaging work implement, from the work area to either a first dump location or a second dump location, the control system being configured to:
• generate a first cost of moving the material from the work area to the first dump locational based at least in part on a profile of a first ground surface between the work area and the first dump location,
• wherein the first ground surface comprises an inclined surface and a flat surface extending from the inclined surface;
• generate a second cost of moving the material from the work area to the second dump location based at least in part on a profile of a second ground surface between the work area and the second dump location, and a compensating factor,
• wherein the second ground surface comprises an inclined surface and an elevated surface extending from the inclined surface, and
• wherein the compensating factor is determined based on operational characteristics of the autonomous earthmoving machine;
• determine that the second cost is less than the first cost;
• select the second dump location, from the first dump location and the second dump location, for dumping the material from the work area based on determining that the second cost is less than the first cost;
• and
• control the autonomous earthmoving machine to move the material from the work area to the second dump location, based on selecting the second dump location.