Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.