Autonomous Work Vehicles, Methods of Controlling Autonomous work vehicles, and Method of Planning Operation of Autonomous work vehicles

A method of controlling an autonomous work vehicle, the method comprising:

• receiving location data from a location determining system on the autonomous work vehicle,
• receiving map data defining:
• a map comprising a path for the autonomous work vehicle to travel;
• and
• at least one error polygon defined around the autonomous work vehicle within the map;
• locating the autonomous work vehicle on the map with the location data;
• determining whether the path is within the error polygon;
• and
• if the path is not within the error polygon, performing a correction action on the autonomous work vehicle.

A method of planning a route for an autonomous work vehicle, the method comprising:

• receiving map data defining:
• a map comprising a path for the autonomous work vehicle to travel,
• undrivable zones and/or obstacles on the map, the undrivable zones defined as areas in which the autonomous work vehicle may not travel, and
• at least one error polygon defined around the autonomous work vehicle within the map;
• generating a first plan for the autonomous work vehicle to follow the path with a maximum size error polygon;
• performing a plan check comprising:
• reviewing whether the error polygon intersects an undrivable zone and/or an obstacle at any point in the plan, and
• if the error polygon intersects an undrivable zone and/or an obstacle at any point in the plan, generating a new plan reducing the size of the error polygon where it intersects the undrivable zone and/or the obstacle;
• and
• if a new plan is generated when performing the plan check, repeating the plan check with the new plan.