Patent ID: 9538696
Date: 2017-01-10
CPC Classifications: A01B,B62D

Claim:
1. A system including a vehicle comprising a chassis having a forward and a rearward end, a traction drive comprising at least two drive wheels operatively mounted to the chassis for causing propulsion of the vehicle, a steering assembly for facilitating steering of the drive wheels when in an operating mode; a leading vehicle connected to the vehicle by a coupling assembly; a force sensor for sensing a force applied at the coupling assembly between the vehicle and the leading vehicle, and a controller; wherein in response to a displacement error of the vehicle relative to an intended travel path, the drive wheels and steering assembly are responsive to one or more control signals generated in accordance with the force sensed by the force sensor and the displacement error to substantially correct the displacement error of the vehicle relative to the intended travel path, wherein the displacement error of the vehicle is determined by the controller calculating a distance of a current position of the vehicle relative to a stored position representative of the intended travel path, wherein the intended travel path is stored in a data store associated with the controller.