Bulldozer planning and control

A computer-implemented method of controlling an earth-moving vehicle (EMV) including a blade, the method comprising:

• (a) directing, by a computer, the EMV in a target region having a portion of soil to remove, wherein the blade is not touching the ground;
• (b) detecting, by the computer, one or more changes in a terrain of the target region;
• (c) generating, by the computer, a terrain map based at least in part on the one or more changes in the terrain;
• (d) determining, by the computer, a path for the EMV to traverse based at least in part on the terrain map;
• and
• (e) dynamically adjusting, by the computer, a depth of the blade as the EMV traverses the path to obtain a target volume of soil.