Automated coupling of an implement to an implement carrier of a power machine

A method of coupling an implement to an implement carrier of a power machine, wherein the power machine comprises a lift arm assembly having at least one lift arm which supports the implement carrier, at least one lift actuator coupled to the lift arm assembly and to a frame and configured to raise and lower the at least one lift arm, and at least one tilt actuator coupled to the implement carrier and to the lift arm assembly and configured to rotate the implement carrier relative to the lift arm assembly, the method comprising:

• obtaining data, from a sensor system, indicative of a position of the power machine relative to the implement;
• controlling a traction system of the power machine, using a control system and as a function of the data indicative of the position of the power machine relative to the implement, to automatically guide the power machine over a support surface to the implement, wherein the traction system of the power machine further comprises drive motors configured to cause the traction system to move the power machine over the support surface, and wherein controlling the traction system further comprises using the control system to generate a control input, as a function of the position of the power machine relative to the implement as indicated by the data from the sensor system, and controlling the drive motors using the control input to automatically guide the power machine to the implement, wherein using the control system to generate the control input further comprises:
• determining a desired position state of the power machine using the data from the sensor system;
• comparing the desired position state to a current position state estimate of the power machine to determine a difference between the current position state estimate and the desired position state;
• and
• generating the control input as a function of the difference between the current position state estimate and the desired position state;
• and
• using the control system to automatically control the at least one lift actuator to raise or lower the at least one lift arm for automatic coupling of the implement to the implement carrier and to automatically control the at least one tilt actuator to rotate the implement carrier while automatically coupling the implement to the implement carrier when the power machine is in position proximate the implement.