Implement guidance
View Patent ↗Efficient towed implement guidance to a desired path is achieved by guiding a towing vehicle toward a path on the opposite side of a desired path, then guiding the vehicle back to the desired path. Efficient forward implement guidance to a desired path is achieved by guiding a pushing vehicle along a tractrix. A vehicle leaves a straight line along a tractrix to keep a rear implement on the line as long as possible.
1. A method for guiding an implement along a desired, straight-line path comprising:
a path-planning autopilot guiding a vehicle pulling the implement, the autopilot first guiding the vehicle along the desired, straight-line path; and,
the autopilot then guiding the vehicle away from the desired, straight-line path along a tractrix such that the implement remains on the desired, straight-line path.
2. The method of claim 1 , the implement being a fixed, rear implement and the tractrix parameterized by implement length.
3. The method of claim 1 , the implement being a towed implement towed from a hitch on the vehicle and the tractrix parameterized by hitch length.
4. A vehicle autopilot comprising:
a microprocessor and memory;
a GNSS receiver the provides vehicle position, velocity and time estimates to the microprocessor;
a feedback controller and a feed-forward controller that generate vehicle curvature commands to guide the vehicle; and,
a vehicle steering actuator; wherein,
the autopilot guides the vehicle along a tractrix parameterized by a characteristic of an implement attached to the vehicle.
5. The autopilot of claim 4 , the implement being a fixed, rear implement and the tractrix parameterized by implement length.
6. The autopilot of claim 4 , being a towed implement towed from a hitch on the vehicle and the tractrix parameterized by hitch length.