US 11,832,553 B2
Autonomous grounds maintenance machines with path planning for trap and obstacle avoidance
Jason T. Kraft, Stillwater, MN (US)
Assigned to THE TORO COMPANY, Bloomington, MN (US)
Filed by THE TORO COMPANY, Bloomington, MN (US)
Filed on May 17, 2022, as Appl. No. 17/746,080.
Application 17/746,080 is a continuation of application No. 16/422,153, filed on May 24, 2019, granted, now 11,350,563.
Claims priority of provisional application 62/801,267, filed on Feb. 5, 2019.
Claims priority of provisional application 62/676,379, filed on May 25, 2018.
Prior Publication US 2022/0272893 A1, Sep. 1, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A01D 34/00 (2006.01); A01D 34/64 (2006.01); A01D 34/76 (2006.01); A01D 34/81 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); A01D 101/00 (2006.01)
CPC A01D 34/008 (2013.01) [A01D 34/64 (2013.01); A01D 34/76 (2013.01); A01D 34/81 (2013.01); G05D 1/0055 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); A01D 2101/00 (2013.01); G05D 2201/0208 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of operation for an autonomous machine, comprising:
determining a travel path for the machine to reach a destination waypoint in a work region;
determining that the travel path will traverse a problem area based on a predetermined terrain map, the predetermined terrain map indicating a risk of immobility of the machine due a grade in the problem area;
determining planned rotations of the machine along the travel path, the planned rotations orienting the machine to increase traction of the machine in the problem area; and
commanding the machine to propel along the travel path based on the planned rotations.