Automated path parameter computation in generating a navigation path
AssigneeDeere & Company
InventorsRana Shakti Singh, Federico Pardina-Malbran, Ryan C. Russell, Bradley K. Yanke
Life of this patent
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Abstract
A processing system identifies an obstacle in a field that is harvested by an agricultural harvester. A material transfer vehicle moves along with the agricultural harvester in order to receive harvested material from the agricultural harvester. The processing system calculates a location and offset corresponding to the obstacle and a path planning system calculates a navigation path that can be followed by the agricultural harvester and/or the material transfer vehicle so that both the agricultural harvester and the material transfer vehicle avoid the obstacle while traveling through the field.
Claims20
A computer implemented method, comprising:
- navigating a first agricultural vehicle along a navigation path through a field;
- automatically controlling a second agricultural vehicle to stay within a spatial relationship of the first agricultural vehicle;
- identifying an obstacle characteristic of an obstacle in the field;
- identifying a turning radius corresponding to the second agricultural vehicle;
- modifying the navigation path of the first agricultural vehicle based on the obstacle characteristic and the turning radius, to obtain a modified navigation path, so that the first agricultural vehicle and the second agricultural vehicle avoid the obstacle as the first agricultural vehicle follows the modified navigation path and as the second agricultural vehicle stays within the first spatial relationship of the first agricultural vehicle;
- and
- controlling the first agricultural vehicle to follow the modified navigation path.
A computer implemented method, comprising:
- navigating a first agricultural vehicle along a navigation path through a field;
- automatically controlling a second agricultural vehicle to stay within a spatial relationship of the first agricultural vehicle;
- identifying an obstacle characteristic of an obstacle in the field;
- identifying a turning radius corresponding to the second agricultural vehicle;
- generating a first path planning constraint based on the identified obstacle characteristic and the turning radius;
- and
- modifying the navigation path off the first agricultural vehicle, based on the first path planning constraint, to obtain a modified navigation path, so neither the first agricultural vehicle nor the second agricultural vehicle violates the first path planning constraint, and so the first agricultural vehicle and the second agricultural vehicle avoid the obstacle as the first agricultural vehicle follows the modified navigation path and as the second agricultural vehicle stays within the spatial relationship of the first agricultural vehicle;
- and
- controlling the first agricultural vehicle to follow the modified navigation path.
An agricultural system, comprising:
- one or more processors;
- memory storing instructions executable by the one or more processors that, when executed by the one or more processors, configure the one or more processors to:
- navigate a first agricultural vehicle along a navigation path through a field;
- automatically control a second agricultural vehicle to stay within a spatial relationship of the first agricultural vehicle:
- identify an obstacle characteristic of an obstacle in the field;
- identify a turning radius corresponding to the second agricultural vehicle;
- modify the navigation path off the first agricultural vehicle, based on the obstacle characteristic and the turning radius, to obtain a modified navigation path, so that the first agricultural vehicle and the second agricultural vehicle avoid the obstacle as the first agricultural vehicle follows the modified navigation path and as the second agricultural vehicle stays within the spatial relationship of the first agricultural vehicle;
- and
- control the first agricultural vehicle to follow the modified navigation path.
Dependencies are inferred from the claim text.