Method of mitigating compaction and a compaction mitigation system

A method of mitigating compaction with a vehicle having a work tool in a work area, the method comprising:

• passing through the work area at a plurality of reference points to form a compaction map associated with compaction in the work area;
• determining at least one data layer associated with the plurality of reference points forming the compaction map in the work area;
• geo-referencing the at least one data layer in the compaction map;
• creating a predetermined path plan for compaction mitigation in the work area that is stored to be available to a controller of the vehicle such that the controller is configured to control operation of the vehicle, wherein at least one of the vehicle and the work tool traverses the work area over compacted areas of the compaction map and avoids traversing the work area over non-compacted areas of the compaction map;
• passing the vehicle through the work area after forming the compaction map along the path plan;
• determining vehicle position data as the vehicle passes through the work area at the plurality of reference points along the path plan;
• wherein the compaction map comprises a first compaction level at a first reference point of the plurality of reference points and a second compaction level at a second reference point of the plurality of reference points that is greater than the first compaction level;
• passing the work tool through the work area at the plurality of reference points after determining the compaction map;
• passing the work tool through the first reference point before passing the work tool through the second reference point;
• adjusting the work tool at the plurality of reference points based on the vehicle position data and the at least one data layer;
• beginning adjustment of the work tool at the first reference point associated with the first compaction level;
• and
• stopping adjustment of the work tool before the work tool reaches the second reference point associated with the second compaction level that is greater than the first compaction level.

A compaction mitigation system for a work area, the system comprising:

• a compaction map of the work area having compaction data associated with a plurality of reference points;
• wherein the compaction map comprises a first compaction level at a first reference point of the plurality of reference points and a second compaction level at a second reference point of the plurality of reference points that is greater than the first compaction level;
• a vehicle configured to pass through the work area at the plurality of reference points after the compaction map is created;
• a path plan for compaction mitigation in the work area and configured to be followed by the vehicle to traverse compacted areas of the work area in accordance with the compaction map;
• a receiver configured to receive location data in the work area;
• a controller accessing the path plan to control a path of the vehicle based on the path plan and configured to be referenced while the vehicle makes passes through the work area along the path plan and accessing the compaction map;
• and
• a work tool coupled to the vehicle and configured to be controlled at the plurality of reference points by the controller accessing the compaction map based on the location data and the compaction data;
• wherein the work tool is configured to be controlled to begin adjustment of the work tool at the first reference point associated with the first compaction level and stop adjustment of the work tool before the work tool reaches the second reference point associated with the second compaction level that is greater than the first compaction level.