| 摘要 |
<p>In one embodiment of the present invention, an apparatus and method for determining a path (22) or series of paths at a work site (20) for a mobile machine (28) capable of operating autonomously or semi-autonomously is provided. The present invention determines a series of rows that are substantially parallel to the machine's (28) heading. The width of the rows is based on the width of the path (22) worked by one or more of the machine's (28) work implements. The work site (20) is bounded by three or more corner points and the perimeter (24) of the work site (20) is defined by boundary lines connecting the corner points. A first line (108) substantially perpendicular to the machine's (28) heading is calculated starting at an initial corner point and ending at a terminal point (106) along the line (108) having a distance approximately equal to the width of the path (22). A second line parallel to the machine's (28) heading and passing through the terminal point (106) is determined. The points of intersection of the second line with the boundary lines are calculated and stored as end points (104) of a first path (22). Endpoints (104) of successive paths (22) are found in a similar manner by incrementing the distance along the parallel line by the width of the work path (22).</p> |
