Freesteering system for mobile machines

1. A method comprising:

receiving a location corresponding to a desired center of rotation of a counter-rotate operation;

determining an actuation value for each of a plurality of actuators corresponding to an angle of deflection for a corresponding track based on the desired center of rotation to maintain a rear extruding edge of a mold tangent to a rotational path defined by the desired center of rotation; and

actuating one or more actuators to rotate one or more of the plurality of tracks to conform to the determined actuation value.

2. The method of claim 1 , further comprising:

receiving a desired path;

determining a first arclength in the desired path;

determining a center of rotation corresponding to the first arclength;

determining an angle of deflection for each of the plurality of tracks to produce the desired arclength; and

actuating one or more actuators to rotate one or more of a plurality of tracks to conform to the determined deflection.

3. The method of claim 2 , wherein:

each of the plurality of tracks is hydraulically driven; and

the center of rotation of the counter rotate operation and angle of deflection for each track are configured such that a uniform hydraulic pressure may be applied to drive the plurality of tracks.

4. The method of claim 2 , further comprising:

measuring at least one path tracking error from a desired path;

converting the at least one path tracking error to a deflection angle at one or more reference points on a construction machine;

calculating one or more target reference point angles at the one or more reference points;

adding the one or more target reference point angles to the deflection angle to produce a combined attack angle;

calculating a synchronized center of rotation based on a line-line intersection derived from the combined attack angle and one or more reference points;

actuating one or more actuators to rotate one or more tracks to a corresponding target track deflection; and

setting a travel speed for each track based on the synchronized center of rotation.

5. The method of claim 1 , further comprising:

determining a travel speed for each of the plurality of tracks based on a set of functions correlating a track deflection and path radius to a travel speed for each track.

6. The method of claim 1 , wherein:

each of the plurality of tracks is hydraulically driven; and

the center of rotation and angle of deflection for each track are configured such that a uniform hydraulic pressure may be applied to drive the plurality of tracks.

7. A construction machine comprising:

an extruding mold;

a plurality of tracks, each of the plurality of tracks associated with at least one of a plurality of actuators, the at least one of the plurality of actuators configured to rotate the corresponding track; and

at least one processor configured via processor executable code to:

receive a desired path;

determine a first arclength in the desired path;

determine a center of rotation corresponding to the first arclength;

determine an angle of deflection for each of the plurality of tracks to produce the desired arclength; and

actuate one or more actuators to rotate one or more of the plurality of tracks to conform to the determined deflection and maintain a rear extruding edge of the extruding mold tangent to a rotational path defined by the desired center of rotation.

8. The construction machine of claim 7 , wherein the at least one processor is further configured to:

measure at least one path tracking error from the desired path;

convert the at least one path tracking error to a deflection angle at one or more reference points on the construction machine;

calculate one or more target reference point angles at the one or more reference points;

add the one or more target reference point angles to the deflection angle to produce a combined attack angle;

calculate a synchronized center of rotation based on a line-line intersection derived from the combined attack angle and one or more reference points;

actuate one or more actuators to rotate one or more tracks to a corresponding target track deflection; and

set a travel speed for each track based on the synchronized center of rotation.

9. The construction machine of claim 7 , wherein the at least one processor is further configured to:

receive a location corresponding to a desired center of rotation of a counter-rotate operation;

determine an angle of deflection for each of the plurality of tracks corresponding to the desired center of rotation; and

actuate one or more actuators to rotate one or more of the plurality of tracks to conform to the determined deflection.

10. The construction machine of claim 9 , wherein:

each of the plurality of tracks is hydraulically driven; and

the center of rotation of the counter rotate operation and angle of deflection for each track are configured such that a uniform hydraulic pressure may be applied to drive the plurality of tracks.

11. The construction machine of claim 7 , wherein the at least one processor is further configured to:

determine a travel speed for each of the plurality of tracks based on a set of functions correlating a track deflection and path radius to a travel speed for each track.

12. The construction machine of claim 7 , wherein:

each of the plurality of tracks is hydraulically driven; and

the center of rotation and angle of deflection for each track are configured such that a uniform hydraulic pressure may be applied to drive the plurality of tracks.

13. The construction machine of claim 7 , further comprising:

a user interface device in data communication with the at least one processor,

wherein the at least one processor is further configured to:

receive an input from the user interface device corresponding to a desired center of rotation;

correlate the desired center of rotation with a track deflection and track speed with relation to a set of functions correlating track deflections and track speeds with a radius of a path.

14. A computer apparatus comprising:

at least one processor;

a plurality of actuators in data communication with the processor, each corresponding to a track, at least one of the plurality of actuators configured to rotate the corresponding track;

a memory in data communication with the at least one processor, storing processor executable code for configuring the at least one processor to:

receive a location corresponding to a desired center of rotation of a counter-rotate operation;

determine an actuation value for each of the plurality of actuators corresponding to an angle of deflection for corresponding track based on the desired center of rotation to maintain a rear extruding edge of a mold tangent to a rotational path defined by the desired center of rotation; and

actuate one or more actuators to rotate one or more of the plurality of tracks to conform to the determined actuation value.

15. The computer apparatus of claim 14 , wherein the processor executable code further configures the at least one processor to:

measure at least one path tracking error from the desired path;

convert the at least one path tracking error to a deflection angle at one or more reference points on a construction machine;

calculate one or more target reference point angles at the one or more reference points;

add the one or more target reference point angles to the deflection angle to produce a combined attack angle;

calculate a synchronized center of rotation based on a line-line intersection derived from the combined attack angle and one or more reference points;

actuate one or more actuators to rotate one or more tracks to a corresponding target track deflection; and

set a travel speed for each track based on the synchronized center of rotation.

16. The computer apparatus of claim 14 , wherein the processor executable code further configures the at least one processor to:

receive a desired path;

determine a first arclength in the desired path;

determine a center of rotation corresponding to the first arclength;

determine an angle of deflection for each of the plurality of tracks to produce the desired arclength; and

actuate one or more actuators to rotate one or more of the plurality of tracks to conform to the determined deflection.

17. The computer apparatus of claim 16 , wherein:

each of the plurality of tracks is hydraulically driven; and

the center of rotation of the counter rotate operation and angle of deflection for each track are configured such that a uniform hydraulic pressure may be applied to drive the plurality of tracks.

18. The computer apparatus of claim 14 , wherein the processor executable code further configures the at least one processor to:

determine a travel speed for each of the plurality of tracks based on a set of functions correlating a track deflection and path radius to a travel speed for each track.

19. The computer apparatus of claim 14 , wherein:

each of the plurality of tracks is hydraulically driven; and

the center of rotation and angle of deflection for each track are configured such that a uniform hydraulic pressure may be applied to drive the plurality of tracks.

20. The computer apparatus of claim 14 , further comprising:

a user interface device in data communication with the at least one processor,

wherein the processor executable code further configures the at least one processor to:

receive an input from the user interface device corresponding to a desired center of rotation;

correlate the desired center of rotation with a track deflection and track speed with relation to a set of functions correlating track deflections and track speeds with a radius of a path.