公开(公告)号：US10114376B2

公开(公告)日：2018-10-30

申请号：US15246582

申请日：2016-08-25

Applicant: Caterpillar Inc.

Inventor： Ananth P Kini ,  Matthew Johnson ,  Joshua Struble

IPC: G05D1/02 ,  E02F9/20 ,  B60W30/04

Abstract: A control system for a machine traveling on a work surface is provided. The control system includes a perception system generating data indicative of a contour of the work surface. The control system includes a controller communicably coupled to the perception system. The controller receives a signal indicative of a current position of the machine on the work surface as the machine travels along a first direction. The controller initiates a scanning of the work surface by the perception system. The controller receives the signal indicative of the contour of the work surface from the perception system and identifies a raised contour and a contour edge within a target area on the work surface. The controller determines a location of the contour edge within the target area based on the identification and controls a positioning of the machine within the target area and relative to the raised contour.