US 12,474,702 B2
System and method for autonomous operation of a machine
William J. Schlacks, IV, Columbia, MO (US); Brian Adams, Columbia, MO (US); James Dianics, Columbia, MO (US); Ian Graves, Columbia, MO (US); Rob Martin, Columbia, MO (US); and Scott Pfursich, Columbia, MO (US)
Assigned to EQUIPMENTSHARE.COM INC, Columbia, MO (US)
Filed by EQUIPMENTSHARE.COM INC, Columbia, MO (US)
Filed on Jan. 31, 2024, as Appl. No. 18/427,995.
Application 18/427,995 is a continuation of application No. 17/363,460, filed on Jun. 30, 2021, granted, now 11,940,789.
Application 17/363,460 is a continuation of application No. 16/939,358, filed on Jul. 27, 2020, granted, now 11,079,755, issued on Aug. 3, 2021.
Application 16/939,358 is a continuation of application No. PCT/US2020/026877, filed on Apr. 6, 2020.
Claims priority of provisional application 62/987,062, filed on Mar. 9, 2020.
Claims priority of provisional application 62/829,986, filed on Apr. 5, 2019.
Prior Publication US 2024/0168476 A1, May 23, 2024
Int. Cl. G05D 1/00 (2006.01); G05D 1/225 (2024.01); G05D 1/247 (2024.01); G05D 1/248 (2024.01); G05D 1/617 (2024.01); G05D 1/622 (2024.01); G05D 1/628 (2024.01); G05D 1/69 (2024.01); G05D 1/692 (2024.01)
CPC G05D 1/0044 (2013.01) [G05D 1/0027 (2013.01); G05D 1/0055 (2013.01); G05D 1/0238 (2013.01); G05D 1/0255 (2013.01); G05D 1/0278 (2013.01); G05D 1/225 (2024.01); G05D 1/247 (2024.01); G05D 1/248 (2024.01); G05D 1/617 (2024.01); G05D 1/622 (2024.01); G05D 1/628 (2024.01); G05D 1/69 (2024.01); G05D 1/692 (2024.01)] 30 Claims
OG exemplary drawing
 
1. A system for controlling movement of an articulated vehicle comprising a front compartment and a rear compartment connected by an articulating joint, the system comprising:
a robotics processing unit configured to generate control data to control movement of the articulated vehicle between a plurality of waypoints along a planned command path, wherein the control data for the waypoints is generated by (a) calculating angles derived from a current position of the front compartment, a current position of the rear compartment, and a location of an upcoming waypoint of the waypoints and (b) utilizing the angles that are calculated to generate the control data for controlling the movement of the articulated vehicle toward the upcoming waypoint, the angles that are calculated and used to generate the control data including a body angle between a front vector of the front compartment and a rear vector of the rear compartment, a front line-of-sight (LOS) angle between the front vector and a front waypoint line toward the upcoming waypoint, and a rear LOS angle between the rear vector and a rear waypoint line toward the upcoming waypoint; and
a controller configured to utilize the control data generated by the robotics processing unit to control the movement of the articulated vehicle so that the articulated vehicle travels the planned command path.