Input shaping for error detection and recovery in dynamically agile grading machines

A non-transitory computer readable medium storing computer program instructions for adjusting a height of an implement mounted on a body of a vehicle as the vehicle travels over a terrain, the computer program instructions when executed by a processor cause the processor to perform operations comprising:

• receiving sensor data from a set of sensors disposed on the vehicle;
• determining a trajectory associated with the vehicle based on the received sensor data;
• estimating a profile of the terrain based on the determined trajectory associated with the vehicle;
• detecting a ditch in the terrain and determining compensation values for adjusting the height of the implement based on the estimated profile of the terrain to compensate for the detected ditch;
• and
• transmitting one or more control signals to one or more actuators for adjusting the height of the implement based on the determined compensation values, wherein transmitting one or more control signals to one or more actuators for adjusting the height of the implement based on the determined compensation value comprises:
• combining initial error values for achieving a target terrain surface with the determined compensation values to generate final error values;
• and
• generating the one or more control signals for adjusting the height of the implement according to the final error values.

A controller comprising:

• a processor;
• and
• a memory to store computer program instructions for adjusting a height of an implement mounted on a body of a vehicle as the vehicle travels over a terrain, the computer program instructions when executed on the processor cause the processor to perform operations comprising:
• receiving sensor data from a set of sensors disposed on the vehicle;
• determining a trajectory associated with the vehicle based on the received sensor data;
• estimating a profile of the terrain based on the determined trajectory associated with the vehicle;
• detecting a ditch in the terrain and determining compensation values for adjusting the height of the implement based on the estimated profile of the terrain to compensate for the detected ditch;
• and
• transmitting one or more control signals to one or more actuators for adjusting the height of the implement based on the determined compensation values, wherein transmitting one or more control signals to one or more actuators for adjusting the height of the implement based on the determined compensation value comprises:
• combining initial error values for achieving a target terrain surface with the determined compensation values to generate final error values;
• and
• generating the one or more control signals for adjusting the height of the implement according to the final error values.

A vehicle comprising:

• a body;
• an implement coupled to the body;
• one or more actuators coupled to the body and the implement;
• a set of sensors disposed on the vehicle for generating sensor data as the vehicle travels over a terrain;
• and
• a controller for:
• receiving the sensor data;
• determining a trajectory associated with the vehicle based on the received sensor data;
• estimating a profile of the terrain based on the determined trajectory associated with the vehicle;
• detecting a ditch in the terrain and determining compensation values for adjusting a height of the implement based on the estimated profile of the terrain to compensate for the detected ditch;
• and
• transmitting one or more control signals to the one or more actuators for adjusting the height of the implement based on the determined compensation values, wherein transmitting one or more control signals to one or more actuators for adjusting the height of the implement based on the determined compensation value comprises:
• combining initial error values for achieving a target terrain surface with the determined compensation values to generate final error values;
• and
• generating the one or more control signals for adjusting the height of the implement according to the final error values.