Deere & Company
Automated work vehicle control system using potential fields

Abstract:

An automated control system in a work vehicle for automating operation of a task is provided. The control system includes one or more electronic controllers having processing and memory architecture including a potential field module and an actuator control module. The potential field module includes a state determination unit configured to determine a state of the work vehicle based on input data; a potential field function selection unit configured to select at least one potential field function based on the determined state; vector calculation unit configured to calculate an action vector based on the at least one potential field function; and an action unit configured to generate an actuator command based on the action vector. The actuator control module is configured to receive the actuator command and to generate command signals for at least one actuator of the work vehicle to, at least in part, perform the task.