CPC E02F 9/2045 (2013.01) [G05D 1/0212 (2013.01); G05D 2201/021 (2013.01)] | 18 Claims |
1. A method for changing an orientation of a machine at a worksite, the method comprising:
controlling, by a controller, a movement of the machine from a first position to a second position along a first route;
controlling, by the controller, a movement of the machine from the second position to a third position along a second route;
controlling, by the controller, a movement of the machine from the third position towards the first position along a third route,
wherein each of the first route, the second route, and the third route define respective apexes and combinedly define a region therebetween, with one or more of the apexes being directed inwards into the region;
determining, by the controller, a first point and a second point along a first route segment of the first route;
defining, by the controller, a first set of mutually perpendicular lines passing through the first point and a second set of mutually perpendicular lines passing through the second point, wherein the first and second sets of mutually perpendicular lines define a first closed zone associated with the first route segment;
defining, by the controller, a first closed zone axis extending between the first point and the second point;
defining, by the controller, a longitudinal axis of the machine;
determining, by the controller, a first included angle θ between the first closed zone axis and the longitudinal axis of the machine; and
controlling, by the controller, at least one of a machine steering angle, a machine speed, a machine acceleration, or a machine deceleration through the first route segment based on the first included angle θ.
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