Abstract: A worksite mapping system is disclosed. The worksite mapping system has a receiving module configured to receive a position and a characteristic of an object at a worksite, a positioning device configured to determine a position of a mobile machine at the worksite, and a controller in communication with the receiving module and the positioning device. The controller is configured to generate an electronic map of the worksite, and an electronic representation of the object on the electronic map based on the received position. The controller is further configured to generate at least one boundary zone around the object based on the received characteristic, and an electronic representation of the mobile machine on the electronic map based on the determined position. The controller is further configured to initiate a collision avoidance strategy in response to a mobile machine entering the at least one boundary zone.