Abstract: A control system is configured to receive a first signal indicative of a current position of a vehicle and a second signal indicative of a desired path for the vehicle. The control system is configured to calculate a virtual path between the current position and a target position on the desired path and to output a third signal indicative of curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle. The control is also configured to iteratively receive an updated current position, receive any updates to the desired path, calculate an updated target position, calculate an updated virtual path based on the updated current position and updated desired path, and output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the vehicle travels across a surface.

Abstract: A swath tracking system for an off-road vehicle includes a control system with a processor and a memory. The control system is configured to receive a plurality of vehicle location points and a current vehicle state, wherein the current vehicle state comprises a current vehicle location, generate a planned vehicle path through one or more of the plurality of vehicle location points, generate a correction path from the current vehicle location to a point along the planned vehicle path ahead of the current vehicle location along a direction of travel, generate a blended path by blending the planned vehicle path and the correction path based at least in part on an assigned weight, wherein the assigned weight is based at least in part on a heading error, a distance between the current vehicle location and the planned path, or a combination thereof, and guide the off-road vehicle along the blended path.

Abstract: A control system of an agricultural work vehicle system includes a controller configured to receive a set of swath paths, and separate each swath path of the set of swath paths into a set of half swaths. Also, the controller is configured to determine multiple possible connecting paths, and each connecting path of the multiple possible connecting paths connects one half swath of a first half swath of the set of half swaths to a second half swath of the set of half swaths. Moreover, the controller is configured to determine a cost for each possible connecting path of the multiple possible connecting paths. Further, the controller is configured to select a chosen connecting path from the multiple possible connecting paths based on the cost, and output a signal indicative of a travel path for an agricultural work vehicle.

Abstract: A system includes a processor. The processor is configured to derive one or more partitions of a field based on a vehicle system data via a learning system. The processor is further configured to derive one or more turn features representative of vehicle turns in the field based on the vehicle system via the learning system. The processor is also configured to derive an autonomous vehicle plan based on the partitions of the field and the turn features via a planning system, wherein the autonomous vehicle plan comprises a planned route of the autonomous vehicle in the field.

Abstract: A planning system for an autonomous work vehicle system includes a controller configured to determine a plan for the autonomous work vehicle system by reducing a cost function, and to output one or more signals indicative of the plan and/or instructions to execute the plan. The plan includes a route of the autonomous work vehicle system through a field, and the cost function includes multiple costs associated with operation of the autonomous work vehicle system.

Abstract: A path planning system for a work vehicle includes a controller configured to determine an initial path between an end point of a first swath and a starting point of a second swath. In addition, the controller is configured to identify a restricted region positioned along the initial path, and to determine a first bounding point of the restricted region. The controller is also configured to determine a first waypoint based on the first bounding point. A distance between the first waypoint and the first bounding point is greater than or equal to half of a lateral extent of the work vehicle and less than half of a lateral extent of an implement. Furthermore, the controller is configured to determine an updated path that intersects the first waypoint, and to output signal(s) indicative of the updated path and/or instructions to direct the work vehicle along the updated path.

Abstract: A control system of an agricultural work vehicle system includes a controller that includes a memory and a processor. The controller is configured to determine multiple partitions based, at least in part, on a map of an agricultural field. Further, the controller is configured to determine a partition list of the multiple partitions based, at least in part, on a set of bounding characteristics of each of the multiple partitions. In addition, the controller is configured to determine an order of the multiple partitions based on the partition list of the multiple partitions. Moreover, the controller is configured to output a signal indicative of a travel path for the agricultural work vehicle.

Abstract: A path planning system for a work vehicle includes a controller configured to determine an initial path between an end point of a first swath and a starting point of a second swath. In addition, the controller is configured to identify a restricted region positioned along the initial path and to determine, in response to identifying the restricted region positioned along the initial path, a first bounding point of the restricted region. Furthermore, the controller is configured to determine a first waypoint based on the first bounding point and to determine an updated path that intersects the first waypoint. The controller is also configured to output signal(s) indicative of the updated path and/or instructions to direct the work vehicle along the updated path.

Abstract: In one embodiment, a method for controlling one or more autonomous agricultural vehicles includes generating a number of mission plans for the one or more autonomous agricultural vehicles, determining a plan value for each of the number of mission plans, selecting a mission plan with the highest plan value, and executing the selected mission plan to control the one or more autonomous agricultural vehicles.

Abstract: A control system is configured to receive a first signal indicative of a current position of a vehicle and a second signal indicative of a desired path for the vehicle. The control system is configured to calculate a virtual path between the current position and a target position on the desired path and to output a third signal indicative of curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle. The control is also configured to iteratively receive an updated current position, receive any updates to the desired path, calculate an updated target position, calculate an updated virtual path based on the updated current position and updated desired path, and output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the vehicle travels across a surface.

Abstract: A swath tracking system for an off-road vehicle includes a control system with a processor and a memory. The control system is configured to receive a plurality of vehicle location points and a current vehicle state, wherein the current vehicle state comprises a current vehicle location, generate a planned vehicle path through one or more of the plurality of vehicle location points, generate a correction path from the current vehicle location to a point along the planned vehicle path ahead of the current vehicle location along a direction of travel, generate a blended path by blending the planned vehicle path and the correction path based at least in part on an assigned weight, wherein the assigned weight is based at least in part on a heading error, a distance between the current vehicle location and the planned path, or a combination thereof, and guide the off-road vehicle along the blended path.

Abstract: A path planning system for a work vehicle includes a controller configured to determine an initial path between an end point of a first swath and a starting point of a second swath. In addition, the controller is configured to identify a restricted region positioned along the initial path and to determine, in response to identifying the restricted region positioned along the initial path, a first bounding point of the restricted region. Furthermore, the controller is configured to determine a first waypoint based on the first bounding point and to determine an updated path that intersects the first waypoint. The controller is also configured to output signal(s) indicative of the updated path and/or instructions to direct the work vehicle along the updated path.

Abstract: A control system of an agricultural work vehicle system includes a controller configured to receive a set of swath paths, and separate each swath path of the set of swath paths into a set of half swaths. Also, the controller is configured to determine multiple possible connecting paths, and each connecting path of the multiple possible connecting paths connects one half swath of a first half swath of the set of half swaths to a second half swath of the set of half swaths. Moreover, the controller is configured to determine a cost for each possible connecting path of the multiple possible connecting paths. Further, the controller is configured to select a chosen connecting path from the multiple possible connecting paths based on the cost, and output a signal indicative of a travel path for an agricultural work vehicle.

Abstract: A system for off-road vehicles includes a processor. The processor is configured to execute a choreographer system to derive a future first segment for a first off-road vehicle path, and to derive a future second segment for a second off-road vehicle path. The processor is further configured to execute the choreographer system to derive the existence of one or more potential issues based on the first segment and on the second segment, and to communicate the one or more potential issues to a path planning system, wherein the path planning system is configured to solve the one or more potential issues by deriving one or more vehicle plans.

Abstract: A planning system for an autonomous work vehicle system includes a controller configured to determine a plan for the autonomous work vehicle system by reducing a cost function, and to output one or more signals indicative of the plan and/or instructions to execute the plan. The plan includes a route of the autonomous work vehicle system through a field, and the cost function includes multiple costs associated with operation of the autonomous work vehicle system.

Abstract: A swath tracking system for an off-road vehicle includes a control system with a processor and a memory. The control system is configured to receive a plurality of vehicle location points and a current vehicle state, wherein the current vehicle state comprises a current vehicle location, generate a planned vehicle path through one or more of the plurality of vehicle location points, generate a correction path from the current vehicle location to a point along the planned vehicle path ahead of the current vehicle location along a direction of travel, generate a blended path by blending the planned vehicle path and the correction path based at least in part on an assigned weight, wherein the assigned weight is based at least in part on a heading error, a distance between the current vehicle location and the planned path, or a combination thereof, and guide the off-road vehicle along the blended path.

Abstract: A path planning system for a work vehicle includes a controller configured to determine an initial path between an end point of a first swath and a starting point of a second swath. In addition, the controller is configured to identify a restricted region positioned along the initial path, and to determine a first bounding point of the restricted region. The controller is also configured to determine a first waypoint based on the first bounding point. A distance between the first waypoint and the first bounding point is greater than or equal to half of a lateral extent of the work vehicle and less than half of a lateral extent of an implement. Furthermore, the controller is configured to determine an updated path that intersects the first waypoint, and to output signal(s) indicative of the updated path and/or instructions to direct the work vehicle along the updated path.

Abstract: A control system of an agricultural work vehicle system includes a controller that includes a memory and a processor. The controller is configured to determine multiple partitions based, at least in part, on a map of an agricultural field. Further, the controller is configured to determine a partition list of the multiple partitions based, at least in part, on a set of bounding characteristics of each of the multiple partitions. In addition, the controller is configured to determine an order of the multiple partitions based on the partition list of the multiple partitions. Moreover, the controller is configured to output a signal indicative of a travel path for the agricultural work vehicle.

Abstract: A control system is configured to receive a first signal indicative of a current position of a vehicle and a second signal indicative of a desired path for the vehicle. The control system is configured to calculate a virtual path between the current position and a target position on the desired path and to output a third signal indicative of curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle. The control is also configured to iteratively receive an updated current position, receive any updates to the desired path, calculate an updated target position, calculate an updated virtual path based on the updated current position and updated desired path, and output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the vehicle travels across a surface.

Abstract: The agricultural control system includes a base control system configured to communicate with a vehicle control system of an agricultural vehicle. The base control system is configured to plan an implement path through an agricultural field for an agricultural implement coupled to the agricultural vehicle based at least in part on at least one characteristic of the agricultural field. The base control system is configured to plan a vehicle path of the agricultural vehicle based at least in part on the planned implement path. The base control system is configured to send a first signal to the vehicle control system indicative of the vehicle path.