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公开(公告)号：US11029690B2
公开(公告)日：2021-06-08
申请号：US16248830
申请日：2019-01-16
发明人： Christian Noess
摘要： A mobile machine including a chassis, a plurality of ground-engaging elements, actuators for driving movement of the ground-engaging elements and a controller for controlling each of the actuators to cause the mobile machine to follow a reference path. The controller is configured to implement a cascading control loop for controlling movement of the mobile machine, the cascading control loop including an outer loop and an inner loop. The outer loop is configured to determine a set heading for reducing a distance between the mobile machine and the reference path, the set heading being determined using an error slope parameter. The inner loop is configured to drive the actuators so that the mobile machine follows the set heading determined by the outer loop. The controller is configured to automatically adjust the error slope value so that the rate of change of the set heading does not exceed a maximum yaw rate.
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公开(公告)号：US11119488B2
公开(公告)日：2021-09-14
申请号：US16248826
申请日：2019-01-16
发明人： Christian Noess
摘要： A mobile machine including a chassis, a plurality of ground-engaging elements, a plurality of actuators for driving movement of the ground-engaging elements, and a controller for controlling each of the actuators to cause the mobile machine to follow a guidance path along a ground surface. The controller is configured to generate a first set of control values for driving the machine according to a first heading based on a reference heading error of the machine, generate a second set of control values for driving the machine according to a second heading based on a distance heading error of the machine, generate a current machine velocity using a prescribed machine velocity, the reference heading error, and the distance heading error, and generate control signals for driving the machine by combining the first set of control values, the second set of control values, and the current machine velocity.
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公开(公告)号：US20190220031A1
公开(公告)日：2019-07-18
申请号：US16248826
申请日：2019-01-16
发明人： Christian Noess
CPC分类号： G05D1/0212 , A01B69/008 , B62D1/283 , B62D11/003 , B62D11/04 , B62D15/025 , G05D1/0088 , G05D1/0276 , G05D2201/0201 , G06F16/29
摘要： A mobile machine including a chassis, a plurality of ground-engaging elements, a plurality of actuators for driving movement of the ground-engaging elements, and a controller for controlling each of the actuators to cause the mobile machine to follow a guidance path along a ground surface. The controller is configured to generate a first set of control values for driving the machine according to a first heading based on a reference heading error of the machine, generate a second set of control values for driving the machine according to a second heading based on a distance heading error of the machine, generate a current machine velocity using a prescribed machine velocity, the reference heading error, and the distance heading error, and generate control signals for driving the machine by combining the first set of control values, the second set of control values, and the current machine velocity.
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公开(公告)号：US11175665B2
公开(公告)日：2021-11-16
申请号：US16248823
申请日：2019-01-16
发明人： Christian Noess
摘要： A mobile machine having a chassis, a plurality of ground-engaging elements, a plurality of actuators for driving movement of the ground-engaging elements, and a controller for controlling each of the actuators to cause the mobile machine to follow a guidance path along a ground surface. The controller is configured to generate a first set of control values for driving the machine according to a first heading based on a reference heading error of the machine and generate a second set of control values for driving the machine according to a second heading based on a distance heading error of the machine, determine a weight scheme for the first set of control values and the second set of control values dependent on a distance of the machine from the guidance path, combine the control signals using the weight scheme and drive the machine using the combined control signals.
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公开(公告)号：US20190220024A1
公开(公告)日：2019-07-18
申请号：US16248830
申请日：2019-01-16
发明人： Christian Noess
CPC分类号： G05D1/0212 , A01B69/008 , B62D1/283 , B62D11/003 , B62D11/04 , B62D15/025 , G05D1/0088 , G05D1/0276 , G05D2201/0201 , G06F16/29
摘要： A mobile machine including a chassis, a plurality of ground-engaging elements, actuators for driving movement of the ground-engaging elements and a controller for controlling each of the actuators to cause the mobile machine to follow a reference path. The controller is configured to implement a cascading control loop for controlling movement of the mobile machine, the cascading control loop including an outer loop and an inner loop. The outer loop is configured to determine a set heading for reducing a distance between the mobile machine and the reference path, the set heading being determined using an error slope parameter. The inner loop is configured to drive the actuators so that the mobile machine follows the set heading determined by the outer loop. The controller is configured to automatically adjust the error slope value so that the rate of change of the set heading does not exceed a maximum yaw rate.
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公开(公告)号：US20190220023A1
公开(公告)日：2019-07-18
申请号：US16248823
申请日：2019-01-16
发明人： Christian Noess
CPC分类号： G05D1/0212 , A01B69/008 , B62D1/283 , B62D11/003 , B62D11/04 , B62D15/025 , G05D1/0088 , G05D1/0276 , G05D2201/0201 , G06F16/29
摘要： A mobile machine having a chassis, a plurality of ground-engaging elements, a plurality of actuators for driving movement of the ground-engaging elements, and a controller for controlling each of the actuators to cause the mobile machine to follow a guidance path along a ground surface. The controller is configured to generate a first set of control values for driving the machine according to a first heading based on a reference heading error of the machine and generate a second set of control values for driving the machine according to a second heading based on a distance heading error of the machine, determine a weight scheme for the first set of control values and the second set of control values dependent on a distance of the machine from the guidance path, combine the control signals using the weight scheme and drive the machine using the combined control signals.
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