Abstract: In embodiments, a mechanical solar tracker for energy and shade disclosed herein includes a positioning cam comprising one or more paths being configured as a function of a latitude location of the mechanical solar tracker; a sleeve coupled to an adjustment arm, the adjustment arm operable to rotate the sleeve about a vertical axis; a cam follower coupled to the sleeve, the cam follower configured to translate a selected path of the one or more paths as the sleeve rotates about the vertical axis, and a surface coupled to the cam follower. In embodiments, the selected path is configured such that as the sleeve rotates about the vertical axis, the cam follower maintains the surface normal to a vector defined by an azimuth angle and elevation angle, wherein the azimuth angle may be the sun azimuth angle and the elevation angle may be the sun elevation angle.

Abstract: In embodiments, a mechanical solar tracker for energy and shade disclosed herein includes a positioning cam comprising one or more paths being configured as a function of a latitude location of the mechanical solar tracker; a sleeve coupled to an adjustment arm, the adjustment arm operable to rotate the sleeve about a vertical axis; a cam follower coupled to the sleeve, the cam follower configured to translate a selected path of the one or more paths as the sleeve rotates about the vertical axis, and a surface coupled to the cam follower. In embodiments, the selected path is configured such that as the sleeve rotates about the vertical axis, the cam follower maintains the surface normal to a vector defined by an azimuth angle and elevation angle, wherein the azimuth angle may be the sun azimuth angle and the elevation angle may be the sun elevation angle.

Abstract: In embodiments, a mechanical solar tracker disclosed herein includes a frame, an elevation cam with an elevation cam surface attached to the frame, and a rotation drive mechanically coupled to the frame. A collector carriage is coupled to the rotation drive and configured to rotate circumferentially around a vertical axis. Also, a collector is connected to the collector carriage and a hinge is coupled between the collector and the collector carriage wherein the hinge is configured to rotate the collector about a horizontal plane at a pivot point. Additionally, a cam follower is coupled between the collector and the elevation cam and the cam follower is configured to translate, based on a surface input from the elevation cam surface, rotation of the collector about the pivot point to track the sun's direction, by tracing the elevation cam surface with the cam follower.

Abstract: In embodiments, a mechanical solar tracker disclosed herein includes a frame, an elevation cam with an elevation cam surface attached to the frame, and a rotation drive mechanically coupled to the frame. A collector carriage is coupled to the rotation drive and configured to rotate circumferentially around a vertical axis. Also, a collector is connected to the collector carriage and a hinge is coupled between the collector and the collector carriage wherein the hinge is configured to rotate the collector about a horizontal plane at a pivot point. Additionally, a cam follower is coupled between the collector and the elevation cam and the cam follower is configured to translate, based on a surface input from the elevation cam surface, rotation of the collector about the pivot point to track the sun's direction, by tracing the elevation cam surface with the cam follower.

Abstract: In accordance with one embodiment of the invention, a path planer and method for planning a path of a vehicle defines a reference row having a reference contour in a work area. A representation of the defined reference row is established. The defined reference row comprises a curved component, a generally linear component, or both. A generator generates one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. The contour rows are generated by a translation technique for the generally linear component and a radius modification technique for the curved component.

Abstract: A method and path planner for planning a path of a vehicle comprising a perimeter training module for identifying a border of a region associated with a work area. A definer for defining a reference row having a reference path that tracks at least a majority of the border. A generator generates tracking rows that track the reference row. The tracking rows comprise at least one inner tracking row and an outer tracking row. Each inner tracking row having at least one inner curve with a lesser radius than an outer tracking row having a corresponding outer curve with a greater radius.

Abstract: In accordance with one embodiment of the invention, a path planner and method for planning a path of a vehicle defines a reference row having a reference contour in a work area. A representation of the defined reference row is established. The defined reference row comprises a curved component, a generally linear component, or both. A generator generates one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. The contour rows are generated by a translation technique for the generally linear component and a radius modification technique for the curved component.

Abstract: A perimeter training module establishes a perimeter path plan of a vehicle including a defined perimeter. A region-filling module establishes a region-filling path plan of the vehicle within the defined perimeter. A point-to-point planning module establishes a point-to-point path plan of a vehicle including a segment of at least one of the region-filling path plan and the perimeter path plan. The path planner forms a preferential composite path plan based on the established perimeter path plan, the region-filling plan, and the point-to-point path plan.

Abstract: A path planner and a method for determining a path for a vehicle comprises defining a starting point for the vehicle. A termination point is defined. An obstacle detector detects one or more obstacles in a work area between the starting point and the termination point. A boundary zone is defined about each corresponding obstacle. Candidate paths are identified between the starting point and the termination point. Each candidate path only intersects each boundary zone once for each corresponding obstacle. An economic cost is estimated for traversing each candidate path or a portion thereof between the starting point and the termination point. A preferential path is selected from the identified candidate paths based on the preferential path being associated with a lowest estimated economic cost.

Abstract: A method for planning a path for a vehicle comprises creating a travel row transparency over a mapped area. The travel row transparency comprises one or more travel rows are split into travel row sections defined by intersecting the travel row with a map object (e.g., a boundary of mapped area). Partition nodes are generated from the travel row sections. The partition nodes or partition edges are linked together to form a potential drivable path consistent with user input and vehicular constrains. An efficient ordering of the partition nodes are determined consistent with the user input. A path is generated by looping through the ordered partition nodes in the determined efficient order.

Abstract: A system and method for determining a path plan for a vehicle includes organizing a work area into partition areas based on at least one of an obstacle, a concavity, and an exclusion area associated with a work area. An external cost indicator is established for indicating the economic cost corresponding to the vehicle traversing from one partition area to another partition area for each possible permutation or potential combination of successive partition areas. The established external cost indicators are searched to determine a preferential order of traversing the partition areas. A preferential path plan is determined based on the internal path plan of each partition and a transfer path plan of transferring from a prior partition to a latter partition until each partition in the work area is traversed.

Abstract: A border of a designated area is defined within a work area. A designated axis is determined for the designated area. A series of generally parallel rows are aligned consistent with a travel axis having a known alignment with respect to the designated axis. One of the generally parallel rows is aligned as a starting row. The vehicle is pointed in a starting direction along or generally parallel to the travel axis. The vehicle engages in a turn path segment after an end of the starting row to move the vehicle at least somewhat perpendicular to the travel axis between the starting row and a next row. A turn path segment has a turn radius greater than or equal to a minimum turning radius of the vehicle, where the starting row and the next row are spatially separated by a multiple of effective vehicular implement widths less an overlap allowance. The turn path segment is defined so as to skip one or more intervening parallel rows between the starting row and the next row.

Abstract: A system and method for determining a path plan for a vehicle includes organizing a work area into partition areas based on at least one of an obstacle, a concavity, and an exclusion area associated with a work area. An external cost indicator is established for indicating the economic cost corresponding to the vehicle traversing from one partition area to another partition area for each possible permutation or potential combination of successive partition areas. The established external cost indicators are searched to determine a preferential order of traversing the partition areas. A preferential path plan is determined based on the internal path plan of each partition and a transfer path plan of transferring from a prior partition to a latter partition until each partition in the work area is traversed.

Abstract: A border of a designated area is defined within a work area. A designated axis is determined for the designated area. A series of generally parallel rows are aligned consistent with a travel axis having a known alignment with respect to the designated axis. One of the generally parallel rows is aligned as a starting row. The vehicle is pointed in a starting direction along or generally parallel to the travel axis. The vehicle engages in a turn path segment after an end of the starting row to move the vehicle at least somewhat perpendicular to the travel axis between the starting row and a next row. A turn path segment has a turn radius greater than or equal to a minimum turning radius of the vehicle, where the starting row and the next row are spatially separated by a multiple of effective vehicular implement widths less an overlap allowance. The turn path segment is defined so as to skip one or more intervening parallel rows between the starting row and the next row.