公开(公告)号：US20230383498A1

公开(公告)日：2023-11-30

申请号：US17804462

申请日：2022-05-27

Applicant: Caterpillar Inc.

Inventor： Sagar CHOWDHURY ,  Karl KIRSCH ,  Matthew D. JOHNSON ,  Philip C. WALLSTEDT ,  Manish SHARMA ,  Kevin A. DAVIS

IPC: E02F9/20 ,  G05D1/02

CPC classification number: E02F9/2045 ,  E02F9/205 ,  G05D1/0212 ,  G05D1/0272 ,  G05D2201/021

Abstract: A method of automatically turning an autonomous mining truck (AMT), including front wheels and rear wheels, around in an operating area, including retrieving boundary data associated with the operating area, determining a first path to follow to execute a turn maneuver within the operating area based at least on the boundary data and dimensions of the AMT, wherein the first path includes a number of legs necessary to follow the first path through the turn maneuver, completing a first leg of the turn maneuver, determining a second path to follow and number of legs necessary to execute the turn maneuver based on an inability to execute the first path, and executing the second path to complete the turn maneuver.