System for automated excavation planning and control

A method of excavation planning and control, comprising:

• operating a controller in communication with a mobile excavation machine to:
• autonomously control the mobile excavation machine to complete an excavation plan;
• determine a volume of material missed during completion of a first cut of the excavation plan;
• compare the volume of material missed during completion of the first cut of the excavation plan to a threshold volume of missed material;
• and
• adjust a characteristic of a second cut of the excavation plan based on the volume of material missed during completion of the first cut of the excavation plan.

A mobile excavation machine, comprising:

• a traction device configured to steer and propel the mobile excavation machine;
• a power source configured to power the traction device;
• a locating device mounted on the mobile excavation machine and configured to generate a first signal indicative of a current position of the mobile excavation machine at a worksite during completion of an excavation plan;
• a tool configured to make a cut into a surface at the worksite during completion of the excavation plan;
• and
• a controller configured to:
• generate the excavation plan based on a characteristic of an intended work area at the worksite, a characteristic of the mobile excavation machine, and a desired change in the intended work area, the excavation plan including a location, depth, and profile of a plurality of cuts arranged into a plurality of passes within a common slot;
• autonomously control the power source, traction device, and tool based on the excavation plan;
• determine a volume of material missed during completion of a first cut of the excavation plan based on the first signal, a known characteristic of the tool, and a goal volume of material to be removed during the first cut of the excavation plan;
• decrease a goal volume of material to be removed during completion of a second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is greater than a maximum threshold that falls within a range from approximately 3-7% of the goal volume of material to be removed during the first cut of the excavation plan;
• and
• increase the goal volume of material to be removed during completion of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is approximately equal to or less than a minimum threshold of 0% of the goal volume of material to be removed during completion of the first cut of the excavation plan.