Vehicle Path Planning System with GNSS Error Correction
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Solution Overview
Problem
Current Global Navigation Satellite System (GNSS) guidance systems for vehicles with work tools fail to accurately record and account for errors in the actual path traveled, leading to reduced precision in tasks such as seed placement and nutrient application, as subsequent passes ignore inaccuracies from previous paths.
Innovation Solution
A vehicle path planning system that determines an actual path, modifies it with a margin based on in situ and a priori environmental data, and guides the vehicle along a modified path to improve precision, using sensors and data storage for real-time adjustments and look-ahead capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If GNSS guidance systems use an intended path for vehicle guidance, then the system can provide basic navigation capability, but errors in the actual path traveled are not recorded and precision deteriorates in subsequent passes
Solution Approach 1:
The system records the actual path traveled by the vehicle during each pass and uses this recorded information to modify and improve subsequent path plans. This feedback loop ensures that errors from previous passes are corrected in future passes, progressively improving path accuracy while maintaining ease of operation through automated guidance.
2Ease of operation
If the system follows the initial intended path without modification, then the guidance system remains simple to operate, but precision in seed placement and nutrient application deteriorates due to accumulated errors
Solution Approach 1:
The system performs preliminary recording of the actual path during the first pass, then uses this recorded data to create a modified path plan before subsequent passes. This preliminary action captures real-world deviations and environmental factors, allowing the system to pre-correct the path for future operations, thereby improving placement precision without complicating the operational interface.
3Ease of operation
If the system ignores actual path errors from previous passes, then the guidance system remains easy to use, but the precision of travel and task performance deteriorates
Solution Approach 1:
The system automatically records actual path deviations and self-corrects by generating modified path plans without requiring manual intervention. This self-service approach maintains ease of operation while continuously improving precision, as the system autonomously learns from and adapts to actual field conditions across multiple passes.
4Measurement precision
If the system applies a margin based on environmental factors and sensor data, then precision in subsequent passes is improved, but the complexity of the path planning system increases
Solution Approach 1:
The system applies margin adjustments locally based on specific environmental factors detected by sensors, such as soil moisture conditions or terrain variations in particular areas. Rather than uniformly complicating the entire system, it selectively modifies path parameters only where environmental factors indicate potential issues, thereby improving precision while minimizing overall system complexity.
Data Source
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AI summary
In accordance with an example embodiment, a vehicle path planning system and a method for planning a path of a vehicle having a work tool are provided. The method includes determining an actual path through a work area, modifying the actual path with a margin to determine a modified path plan through the work area, and passing the work tool through the work area with the vehicle along the modified path plan.