System for autonomous path planning and machine control

摘要

A control system is disclosed for use with a mobile loading machine operating at a first location and a plurality of mobile haul machines configured to move material received at the first location to a second location. The control system may have a plurality of control modules, each associated with one of the mobile loading machine and the plurality of mobile haul machines, and a worksite controller. The worksite controller may be configured to make a determination that a position of the mobile loading machine has changed, and to generate a new travel path for the plurality of mobile haul machines based on the determination. The worksite controller may also be configured to selectively communicate the new travel path to each of the plurality of control modules. The new travel path between the first and second locations may be automatically determined in accordance with at least one user-selected goal.

主权项

1. A control system for use with a mobile loading machine operating at a first location of a worksite and a plurality of mobile haul machines configured to move material received at the first location to a second location of the worksite, the control system comprising:
a plurality of control modules, each associated with one of the mobile loading machine and the plurality of mobile haul machines; a worksite controller in communication with the plurality of control modules, the worksite controller being configured to:
make a determination that a position of the mobile loading machine at the first location has changed;generate a new travel path for the plurality of mobile haul machines between the first location and the second location based on the determination; andselectively communicate the new travel path to each of the plurality of control modules, wherein the new travel path between the first and second locations is automatically determined in accordance with a plurality of user-selected goals each having a user-defined weighting factor, wherein the weighting factors of the plurality of user selected goals vary at different locations of the worksite; and the worksite controller is configured to determine the new travel path in accordance with the weighting factor of each of the plurality of user-selected goals.