Machine with automated steering system

Abstract

A system is provided for regulating a travel course of a machine. The system has a steering system operationally connected to at least one ground engaging device. Additionally, the system has a path generator configured to generate a path along which the machine can travel. The system also has a path tracker configured to automatically regulate the steering system to position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.

1 . A system for regulating a travel course of a machine comprising:
 a steering system operationally connected to at least one ground engaging device; and   a path generator configured to generate a path along which the machine can travel; and   a path tracker configured to automatically regulate the steering system to position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.   
     
     
         2 . The system of  claim 1 , wherein the path tracker is further configured to automatically regulate the steering system to orient the machine to a predetermined orientation relative to the initial point on the generated path. 
     
     
         3 . The system of  claim 1 , wherein the path tracker is further configured to release steering control to an operator when the machine travels beyond a specified threshold. 
     
     
         4 . The system of  claim 1 , wherein the path generator is further configured to generate a plurality of alternative paths along which the machine can travel. 
     
     
         5 . The system of  claim 4 , wherein the path generator is further configured to automatically select an optimal path from the plurality of alternative paths. 
     
     
         6 . The system of  claim 4 , wherein the path generator is configured to receive an operator selection of a desired one of the alternative paths. 
     
     
         7 . The system of  claim 1 , wherein the path generator is configured to generate a map of an associated work site as the machine traverses the work site and create the path based on the generated map. 
     
     
         8 . A method for regulating a travel course of a machine comprising:
 generating a map of an associated work site;   receiving data related to kinematics of the machine;   generating a path along which the machine can travel based on the generated map and machine kinematics;   generating a plurality of alternative paths; and   guiding the machine along one of the generated alternative paths.   
     
     
         9 . The method of  claim 8 , further including positioning the machine at an initial point on the generated path. 
     
     
         10 . The method of  claim 9 , further including orienting the machine to a predetermined orientation relating to the initial point on the generated path. 
     
     
         11 . The method of  claim 10 , wherein positioning, orienting, and guiding the machine further includes adjusting a steering angle and an articulation angle. 
     
     
         12 . The method of  claim 11 , further including adjusting the steering angle to a maximum possible angle before adjusting the articulation angle. 
     
     
         13 . The method of  claim 8 , further including automatically selecting one of the plurality of alternative paths. 
     
     
         14 . The method of  claim 8 , further including releasing steering control of the machine to an operator when the machine travels beyond a predefined threshold. 
     
     
         15 . A machine comprising:
 at least one ground engaging device;   a power source configured to generate a power output for driving the at least one ground engaging device;   a steering system operationally connected to at least one ground engaging device; and   a path generator configured to generate a path along which the machine can travel; and   a path tracker configured to automatically regulate the steering system to orient and position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.   
     
     
         16 . The machine of  claim 15 , wherein the path generator is further configured to generate a plurality of alternative paths along which the machine can travel. 
     
     
         17 . The machine of  claim 16 , wherein the path generator is further configured to automatically select an optimal path from the plurality of alternative paths. 
     
     
         18 . The machine of  claim 16 , wherein the path generator is further configured to receive an operator selection of a desired one of the alternative paths. 
     
     
         19 . The machine of  claim 15 , wherein the path generator is configured to generate a map of an associated work site as the machine traverses the work site and create the path based on the generated map. 
     
     
         20 . The machine of  claim 15 , wherein the path tracker is further configured to release steering control to an operator when the machine travels beyond a specified threshold.