Intelligent motion control through surface scan comparison and feature recognition

A system comprising:

• one or more processors;
• and
• at least one computer-readable storage medium having stored therein instructions which, when executed by the one or more processors, cause the system to:
• generate topography data of a surface based on output received from a first surface profiler disposed on a leading surface of a cart and a positional sensor;
• generate intermediate data of the surface based on output received from a second profiler disposed on an actuating tool and the positional sensor;
• compare the intermediate data with the topography data to calculate an offset;
• and
• control motion of the cart traveling on the surface based on the offset, the cart having an actuating tool to manipulate the surface.

A method for controlling motion of a machine, the method comprising:

• generating topography data of a surface on which a machine travels based on output received from a first surface profiler disposed on the machine and a positional sensor;
• generating intermediate data of the surface based on output received from a second profiler and the positional sensor, the second profiler disposed on an actuating tool of the machine;
• comparing the intermediate data with the topography data to calculate an offset;
• and
• controlling motion of the machine based on the offset.