Automated work vehicle control system using potential fields

A work vehicle, comprising:

• a frame;
• a propulsion system coupled to the frame and configured to move the work vehicle;
• an implement arrangement coupled to the frame and configured to manipulate a material;
• and
• an electronic control system having processing and memory architecture operatively coupled to the propulsion system and the implement arrangement and configured to generate an actuator command to one or more of the propulsion system and the implement arrangement to perform a first task, the control system including:
• a potential field module with a state determination unit configured to determine a state of the work vehicle based, at least in part, on input data of a load condition of the work vehicle;
• a potential field function selection unit in communication with the state determination unit and configured to select a potential field function based on the state;
• wherein the potential field function selection unit is configured to select the potential field function to include a first potential field function representing the first task associated with loading the material from a pile with the implement arrangement and a second potential field function representing an obstacle;
• a vector calculation unit in communication with the potential field function selection unit and configured to calculate a resulting action vector based on the potential field function;
• wherein the vector calculation unit is configured to calculate the resulting action vector as a sum of a first action vector component representing a gradient of the first potential field function for a task distance between a current implement position and an initial task goal position within the pile of material as a first attractive response and a second action vector component representing a gradient of the second potential field function for an obstacle distance between a current work vehicle position and an obstacle position as a first repulsive response, wherein the vector calculation unit is configured to calculate the resulting action vector in three dimensions such that the work vehicle maneuvers around the obstacle position while traveling to the initial task goal position;
• and
• an action unit in communication with the vector calculation unit and configured to generate the actuator command based on the resulting action vector.

A work vehicle, comprising:

• a frame;
• a propulsion system coupled to the frame and configured to move the work vehicle;
• an implement arrangement coupled to the frame and configured to manipulate a material;
• and
• an electronic control system having processing and memory architecture operatively coupled to the propulsion system and the implement arrangement and configured to generate an actuator command to one or more of the propulsion system and the implement arrangement to perform a task, the control system configured to:
• determine a state of the work vehicle based, at least in part, on input data of a load condition of the work vehicle;
• select a potential field function based on the state;
• calculate a resulting action vector representing a gradient that linearly converges based on distance and has a magnitude representing a relative strength of potential and a direction representing an orientation and sign of the potential for the work vehicle;
• and
• generate the actuator command based on the resulting action vector;
• wherein the implement arrangement is a loader vehicle arrangement with a bucket and a boom assembly to manipulate the material;
• wherein the task command includes traveling to and loading the material at a first position and traveling to and unloading the material at a second position while avoiding an obstacle at an obstacle position;
• wherein, when the input data indicates that the bucket is unloaded and the work vehicle is away from the first position, the electronic control system is configured to determine the state of the work vehicle to be traveling to the first position and avoiding the obstacle position, select the potential field function to include a first potential field function associated with the first position and a second potential field function associated with the obstacle position, and calculate the resulting action vector as the combination of a first action vector component based on the first potential field function in view of a first distance between the work vehicle and the first position and a second action vector component based on the second potential field function in view of a second distance between the work vehicle and the obstacle position such that the work vehicle maneuvers around the obstacle position while traveling to the first position,
• wherein, when the input data indicates that the bucket is unloaded and the work vehicle is at the first position, the electronic control system is configured to determine the state of the work vehicle to be initially loading the material, select the potential field function to include a third potential field function associated with a source of the material, and calculate the resulting action vector based on the third potential field function in view of a third distance between the bucket and the source of material in three dimensions such that the bucket is positioned, scooped, and lifted through the material to collect a portion of the material in the bucket,
• wherein, when the input data indicates that the bucket is loaded and within the source of material and the work vehicle is at the first position, the electronic control system is configured to determine the state of the work vehicle to be further loading the material, select the potential field function to include a fourth potential field function associated with a ground plane, and calculate the resulting action vector based on the fourth potential field function in view of a fourth distance between the bucket and the ground plane in three dimensions, and
• wherein, when the input data indicates that the bucket has completed loading and the work vehicle is away from the second position, the electronic control system is configured to determine the state of the work vehicle to be traveling to the second position and avoiding the obstacle position, select the potential field function to include a fifth potential field function associated with the second position and the second potential filed function associated with the obstacle position, and calculate the resulting action vector as the combination of a third action vector component based on the fifth potential field function in view of a fifth distance between the work vehicle and the second position and the second action vector component based on the second potential field function in view of the second distance between the work vehicle and the obstacle position such that the work vehicle maneuvers around the obstacle position while traveling to the second position.