Autonomous Agricultural System Including a Cart Management System for Determining a Drive System of a Cart of the Autonomous Agricultural System and Local Path Planner and Related Methods

A method of monitoring and controlling operation of a cart of an autonomous agricultural system, the cart being operably coupled to an agricultural vehicle of the autonomous agricultural system, the method comprising:

• capturing, via the array of sensors and in real-time, sensor data of a drive assembly of the cart;
• analyzing the captured sensor data to determine whether the drive assembly of the cart comprises wheels or a track assembly;
• based at least partially on the determination whether the drive assembly of the cart comprises wheels or a track assembly, adjusting one or more parameters of a local path planner of the cart management system;
• utilizing the local path planner with the adjusted one or more parameters to determine an immediate path from a current position to at least a next waypoint of a planned agricultural process;
• and
• responsive to determining the immediate path, causing the cart to travel along the immediate path.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system, the cart being operably coupled to an agricultural vehicle of the autonomous agricultural system, the cart management system comprising:

• an array of sensors mounted proximate or on an end of the agricultural vehicle facing the cart;
• at least one processor;
• and
• at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the cart management system to:
• capture, via the array of sensors and in real-time, sensor data of a drive assembly of the cart;
• analyze the captured sensor data to determine whether the drive assembly of the cart comprises wheels or a track assembly;
• based at least partially on the determination whether the drive assembly of the cart comprises wheels or a track assembly, adjust one or more parameters of a local path planner of the cart management system;
• utilize the local path planner with the adjusted one or more parameters to determine an immediate path from a current position to at least a next waypoint of a planned agricultural process;
• and
• responsive to determining the immediate path, cause the cart to travel along the immediate path.