Implement guidance

摘要

Efficient towed implement guidance to a desired path is achieved by guiding a towing vehicle toward a path on the opposite side of a desired path, then guiding the vehicle back to the desired path. Efficient forward implement guidance to a desired path is achieved by guiding a pushing vehicle along a tractrix. A vehicle leaves a straight line along a tractrix to keep a rear implement on the line as long as possible.

主权项

1. A method for guiding a forward implement on a desired path comprising:
a path-planning autopilot first guiding a vehicle, to which the forward implement is attached, toward the desired path at an angle to the desired path less than or equal to a pre-defined maximum angle; and, once the implement reaches the desired path, the autopilot then guiding the vehicle along a tractrix parameterized by a distance, F, of the implement ahead of the vehicle's control point.