Patent Publication Number: US-2023134855-A1

Title: System and method for controlling travel of work machine

Description:
TECHNICAL FIELD 
     The present disclosure relates to a system and a method for controlling a travel of a work machine during an excavation operation. 
     BACKGROUND 
     Work machines, such as excavators, may be used for various material removal operations. For example, the work machine may be used to perform an excavation operation, such as, a foundation excavation operation or a trench excavation operation. Further, during the excavation operation, the work machine may tram or travel from one excavation location to another excavation location. It may be desirable that, during a tramming of the work machine, the work machine causes minimum disturbance to a ground surface on which the work machine is operating. In some cases, the work machine may inadvertently displace some amount of soil from the ground surface, which may affect an efficiency of the excavation operation. Thus, it may be desirable to move the work machine along an optimal movement path that causes minimum ground surface disturbance. 
     Further, during the tramming of the work machine, the work machine may unintentionally deviate from the movement path due to one or more factors, such as track slip, drivetrain dynamics, datum uncertainty, measurement errors, operator errors, and the like. Due to a misalignment of the work machine relative to the movement path, soil may fall into an excavated portion from a non-excavated portion and/or soil may erode into the excavated portion. Further, it may be challenging to align work machines, including the tracks for movement purposes, with the movement path. For example, it may be challenging to re-position tracked work machines sideways or turn them at sharp bends. Thus, when such work machines misalign from the movement path, an operator may have to spend additional time and fuel aligning the work machine with the movement path. The misalignment of the work machine from the movement path may affect the efficiency of the excavation operation and may increase operation cost. Moreover, during trench excavation operations, the misalignment of the work machine from the movement path may result in excavation of a crooked trench, which may not be desirable. 
     U.S. Pat. No. 8,583,326 describes a GNSS-based contour guidance path selection system for guiding a piece of equipment through an operation, such as navigating a guide path, includes a processor programmed for locking onto a particular aspect of the operation, such as deviating from a pre-planned or original guidance pattern and locking the guidance system onto a new route guide path, while ignoring other guidance paths. The system gives a vehicle operator control over a guidance route without the need to re-plan a pre-planned route. The device corrects conflicting signal issues arising when new swaths result in the guidance system receiving conflicting directions of guidance where the new swaths cross predefined swaths. An operator can either manually, or with an autosteer subsystem automatically, maintain a new contour guidance pattern, even while crossing predefined guidance paths that would otherwise divert the vehicle. 
     SUMMARY OF THE DISCLOSURE 
     In one aspect of the present disclosure, a system for controlling a travel of a work machine during an excavation operation is provided. The system includes one or more sensors to generate data indicative of one or more position parameters of the work machine. The position parameter includes one or more of an orientation of the work machine and a location of the work machine. The system also includes a controller communicably coupled with the sensor. The controller is configured to receive the data indicative of the position parameter of the work machine from the sensor. The controller is also configured to collect data indicative of a desired movement path for the work machine to reach a desired location. The controller is further configured to determine one or more operating parameters of the work machine to reach the desired location based on the data indicative of the position parameter of the work machine and the data indicative of the desired movement path. The operating parameter includes one or more of a desired travel distance of the work machine, a maximum velocity of the work machine, and a desired travel direction of the work machine. The controller is configured to generate a first control signal for controlling the travel of the work machine based on the determination of the operating parameter, such that one or more components of the work machine is in alignment with the desired movement path. 
     In another aspect of the present disclosure, a method for controlling a travel of a work machine during an excavation operation is provided. The method includes receiving, by a controller, data indicative of one or more position parameters of the work machine from one or more sensors. The position parameter includes one or more of an orientation of the work machine and a location of the work machine. The method also includes collecting, by the controller, data indicative of a desired movement path for the work machine to reach a desired location. The method further includes determining, by the controller, one or more operating parameters of the work machine to reach the desired location based on the data indicative of the position parameter of the work machine and the data indicative of the desired movement path. The operating parameter includes one or more of a desired travel distance of the work machine, a maximum velocity of the work machine, and a desired travel direction of the work machine. The method includes generating, by the controller, a first control signal for controlling the travel of the work machine based on the determination of the operating parameter, such that one or more components of the work machine is in alignment with the desired movement path. 
     Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    illustrates a side view of a work machine, according to examples of the present disclosure; 
         FIG.  2    illustrates a block diagram of a system for controlling a travel of the work machine of  FIG.  1   , according to examples of the present disclosure; 
         FIG.  3    illustrates the work machine of  FIG.  1    moving along a first desired movement path, according to examples of the present disclosure; 
         FIG.  4    illustrates the work machine of  FIG.  1    moving along a second desired movement path, according to examples of the present disclosure; 
         FIG.  5    illustrates the work machine of  FIG.  1    moving along a third desired movement path, according to examples of the present disclosure; and 
         FIG.  6    illustrates a flowchart of a method for controlling the travel of the work machine during an excavation operation, according to examples of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or the like parts. Wherever possible, corresponding or similar reference numbers will be used throughout the drawings to refer to the same or corresponding parts. 
       FIG.  1    illustrates an exemplary work machine  100 . The work machine  100  is embodied as a hydraulic excavator herein. Although shown as the hydraulic excavator, it may be understood that the work machine  100  may alternatively include other work machines such as motor graders, mining shovels, dozers, tractors, or compactors, without any limitations. The work machine  100  may include a manual machine, an autonomous machine, or a semi-autonomous machine. The work machine  100  may perform one or more excavation operations at a construction site. In some examples, the work machine  100  may be used for trench excavation operations or foundation excavation operations. 
     The work machine  100  defines a front end  102  and a rear end  104 . The work machine  100  also includes a movable carrier  106 . The movable carrier  106  includes a lower structure  108  and an upper structure  110  movably coupled with the lower structure  108 . The upper structure includes a frame  112 . The upper structure  110  may support various components of the work machine  100  thereon. The upper structure  110  defines an enclosure  114 . The enclosure  114  allows mounting of a power source (not shown). The power source may provide operating power to the work machine  100  for mobility and operational requirements. The power source may include, but is not limited to, a diesel engine, a gasoline engine, a gaseous fuel powered engine, a dual fuel powered engine, an electric motor, a fuel cell, a battery, and/or a combination thereof, based on application requirements. Additionally, the work machine  100  may include components (not shown) and/or systems (not shown), such as a fuel delivery system, an air delivery system, an exhaust system, a drivetrain, a hydraulic system, a transmission system, and so on, based on application requirements. 
     The work machine  100  may also include a work implement  116  disposed proximate the front end  102 . The work implement  116  may be operably connected to the upper structure  110  by a linkage assembly  118 . The work implement  116  may be used for various material handling operations, material removal operations, and/or material transportation operations. For example, during an excavation operation, the work implement  116  may contact a ground surface  124  for removing material therefrom. The lower structure  108  includes an undercarriage structure  120 . The undercarriage structure  120  provides support and mobility to the work machine  100  on a ground surface  124 . The undercarriage structure  120  includes a set of ground engaging members  122  (only one ground engaging member  122  is shown in the accompanying figure). In the illustrated example of  FIG.  1   , the ground engaging members  122  are embodied as tracks. In other examples, the ground engaging members  122  may embody wheels or drums. As such, the ground engaging members  122  enable travel/tramming of the work machine  100  on the ground surface  124 . 
     The work machine  100  includes the hydraulic system (not shown). The hydraulic system may include one or more hydraulic circuits and one or more hydraulic actuators. For example, the work implement  116  and the linkage assembly  118  of the work machine  100  may be hydraulically coupled to the hydraulic system. In some examples, the one or more hydraulic actuators may be actuated to move the work implement  116  and the linkage assembly  118  for excavation of materials from the ground surface  124 . 
     The work machine  100  includes a turn table  125 . The turn table  125  is mounted on the undercarriage structure  120 , upon which the upper structure  114 , including an operator cabin  126 , may be pivotally mounted. The turn table  125  defines a first axis “A 1 ”. The work machine  100  also includes the operator cabin  126  supported by the frame  112 . The operator cabin  126  may move relative to the undercarriage structure  120 , about the first axis “A 1 ”. Such a movement of the operator cabin  126  may be referred to as a yaw movement of the operator cabin  126 . Further, the operator cabin  126  may include one or more input devices  128  (shown in  FIG.  2   ). The input devices  128  may include a lever, a button, a joystick, and the like. Moreover, the operator cabin  126  may include one or more output devices  130  (shown in  FIG.  2   ). In an example, the output device  130  may include a display screen. In some examples, the output device  130  may embody a touch screen device that may include means to provide outputs to a machine operator and may also include means to receive inputs, that may be physical inputs or virtual inputs, from the machine operator. In some examples, the input and output devices  128 ,  130  may be present at a base station (not shown) which may be located remotely with respect to the work machine  100 . 
     Further, the work machine  100  may include a sensor  132  (shown in  FIG.  2   ). The sensor  132  may be hereinafter interchangeably referred to as a first sensor  132 . The first sensor  132  may include a yaw sensor. The first sensor  132  may include a gyroscopic device that may generate a signal indicative of a yaw angle of the operator cabin  126 . The first sensor  132  may include any type of sensor, such as, a piezoelectric sensor, a micromechanical sensor, and the like. The first sensor  132  may be mounted on the operator cabin  126 . It should be noted that a type of the first sensor  132  mentioned herein does not limit the scope of the present disclosure and the work machine  100  may include any other type of sensors that may provide the desired features. 
     The work machine  100  also includes a machine controller  134  (as shown in  FIG.  2   ). The machine controller  134  may embody a machine control unit (MCU). The machine controller  134  may control one or more systems of the work machine  100 , such as, the fuel delivery system, the exhaust system, the transmission system, the hydraulic system, and the like. It should be noted that the machine controller  134  may also control the ground engaging members  122  to move the work machine  100  at desirable velocities, based on inputs received from the machine operator or other control systems. 
     Further, the work machine  100  may include an imaging device (not shown). The imaging device may be used to sense a surrounding of the work machine  100 . In some examples, the imaging device may be used for object or personnel detection around the work machine  100  as well as terrain mapping, without any limitations. In some examples, the imaging device may capture images or videos of a surrounding area of the work machine  100 . The imaging device may include a camera. It should be noted that the imaging device may include any type of imaging device known in the art, without limiting the scope of the present disclosure. 
       FIG.  2    illustrates a system  136  for controlling the travel of the work machine  100  during the excavation operation. It should be noted that the system  136  described herein may be associated with semi-autonomous, manual, or autonomous work machines, without any limitations. Further, the system  136  may facilitate a semi-autonomous travel feature of the work machine  100 . The system  136  includes one or more sensors  138  to generate data indicative of one or more position parameters of the work machine  100 . The sensor  138  may be hereinafter interchangeably referred to as a second sensor  138 . Further, the position parameter includes one or more of an orientation of the work machine  100  and a location of the work machine  100 . The orientation of the work machine  100  may be indicative of a data related to a heading direction of the work machine  100 . Further, the second sensor  138  may also generate data related to the location of the work machine  100  at a worksite. In some examples, the position parameter may also include a position of the operator cabin  126  (see  FIG.  1   ) relative to the undercarriage structure  120  (see  FIG.  1   ) of the work machine  100 . More particularly, the first sensor  132  may provide the position of the operator cabin  126  relative to the undercarriage structure  120  of the work machine  100 . 
     The second sensor  138  may include an inertial measurement unit (IMU), a global positioning system (GPS) module, and the like. In an example, the system  136  may include the IMU as well the GPS module. Alternatively, the system  136  may include the GPS module alone. The IMU may include an electronic device that measures and provides parameters, such as, a velocity of the work machine  100 , the orientation of the work machine  100 , and the like, using a combination of accelerometers, gyroscopes, and magnetometers. The IMU may be located at the upper structure  110  of the work machine  100 . Further, the GPS module may include a known satellite-based radionavigation system. The GPS module may provide parameters, such as, the location of the work machine  100  and/or the orientation of the work machine  100 . In some examples, the system  136  may include a pair of GPS modules. For example, such a pair of GPS modules may provide information related to a current heading direction of the work machine  100 . In some examples, the operating parameter may be determined based on a combination of the inputs received from the first and second sensors  132 ,  138 . 
     It should be noted that a type of the second sensor  138  mentioned herein does not limit the scope of the present disclosure. Accordingly, the system  136  may include any other type of sensors or techniques known in the art that may provide data indicative of the orientation of the work machine  100  and the location of the work machine  100 . 
     The system  136  may further include an indication system (not shown). The indication system may include a horn, a speaker, a strobe, and the like. In some examples, the indication system may be activated by the machine operator using one or more levers, switches, buttons, and the like, present in the operator cabin  126  (see  FIG.  1   ). In an example, the indication system may be activated before initiating the excavation operation or the travel of the work machine  100  for alerting personnel present around the work machine  100 . 
     In some examples, the indication system may provide warnings and/or indications if the work machine  100  is not in alignment with a desired movement path  140 ,  142 ,  144  (see  FIGS.  3 ,  4 , and  5   ). In other examples, when the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 , but the operator cabin  126  is not oriented as desired or the operator cabin  126  is oriented out of phase (e.g., facing backward instead of forward relative to a direction of vehicle travel) by about 180 degrees, the indication system may notify the machine operator to adjust the operator cabin  126  before initiating the travel of the work machine  100 . For example, the indication system may generate an alert for notifying the machine operator that the operator cabin  126  may be reversed in a direction that is opposite to an expected direction of travel of the ground engaging members  122 . In some examples, as per operator preferences, the system  136  may be designed to proceed with the semi-autonomous travel feature of the work machine  100  after generating the alert. In another example, based on operator preferences, the system  136  may be designed to generate the alert as well as terminate the semi-autonomous travel feature of the work machine  100  if the operator cabin  126  is reversed in the direction that is opposite to the expected direction of travel of the ground engaging members  122 . In yet another example, based on operator preferences, the indication system may not generate the alert and proceed with the semi-autonomous travel feature of the work machine  100  if the operator cabin  126  is reversed in the direction that is opposite to the expected direction of travel of the ground engaging members  122 . In some examples, when the yaw angle of the operator cabin  126  may be greater than a predetermined threshold angle, such as, 90 degrees, the indication system may generate the alert or the system  136  may terminate the semi-autonomous travel feature of the work machine  100 . Alignment can mean all or part of the work machine  100  is located within a predetermined distance of or angle relative to a reference point (or route), for example, 1 meter, or 5 degrees. 
     The system  136  further includes a controller  146  communicably coupled with the second sensor  138 . Further, the controller  146  is communicably coupled with the input device  128 , the output device  130 , the first sensor  132 , the machine controller  134 , the imaging device, and the indication system. In the illustrated example of  FIG.  2   , the controller  146  and the machine controller  134  are explained as different devices. Alternatively, a single controller may perform functions of the controller  146  and the machine controller  134 , without any limitations. 
     The controller  146  may include a memory  148 . The memory  148  may include a flash memory, a random-access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), and the like. The memory  148  may be used to store data such as algorithms, instructions, arithmetic operations, and the like. The controller  146  may execute various types of digitally-stored instructions, such as a software program or an algorithm program, retrieved from the memory  148 , or a firmware program which may enable the controller  146  to perform a wide variety of operations. In some examples, the memory  148  may store data indicative of the desired movement path  140 ,  142 ,  144  for the work machine  100 . 
     The controller  146  receives an input “I 1 ” from the machine operator for initiating the travel of the work machine  100 , such that the one or more components  116  of the work machine  100  are in alignment with the desired movement path  140 ,  142 ,  144  (see  FIGS.  3 ,  4 , and  5   ). In the illustrated example, the one or more components  116  of the work machine  100  may include the work implement  116 . The work implement  116  may be hereinafter interchangeably referred to as the component  116 . In an example, the machine operator may select a section of the work implement  116  that needs to be aligned with the desired movement path  140 ,  142 ,  144 . The section of the work implement  116  may include a central portion of the work implement  116 , a left edge of the work implement  116 , a right edge of the work implement  116 , and the like. In other examples, the ground engaging members  122 , the linkage assembly  118  (see  FIG.  1   ), and the like may be aligned with the desired movement path  140 ,  142 ,  144 , without any limitations. 
     Further, the machine operator may provide the input “I 1 ” to the controller  146  via the input device  128  to initiate the travel of the work machine  100  towards a desired location “L 1 ” (shown in  FIG.  1   ). In an example, the input device  128  for initiating the travel of the work machine  100  may include a trigger or a pushbutton. In another example, the travel of the work machine  100  along the desired movement path  140 ,  142 ,  144  may be initiated based on an operation of a pedal by the machine operator. The input “I 1 ” may be generated based on a single pressing of the input device  128  or a double-pressing of the input device  128 . In some examples, more than one input device  128  may be operated in series or parallel to generate the input “I 1 ” to eliminate a possibility of inadvertent generation of the input “I 1 ”. Based on the receipt of the input “I 1 ”, the controller  146  may activate the semi-autonomous travel feature of the work machine  100 . In one example, if the controller  146  determines the presence of objects or personnel surrounding the work machine  100  or in the desired movement path  140 ,  142 ,  144 , the controller  146  may deactivate the semi-autonomous travel feature to terminate the travel of the work machine  100 . Further, the controller  146  may generate a notification to alert the operator regarding the presence of the object or personnel around the work machine  100 . The notification may be provided via the output device  130  or the indication system. In some examples, the controller  146  may transmit signals to the indication system to alert the machine operator that the work machine  100  is initiating the travel towards the desired location “L 1 ”. 
     The desired movement path  140 ,  142 ,  144  may be hereinafter interchangeably referred to as a first desired movement path  140 , a second desired movement path  142 , and a third desired movement path  144 , respectively. Further, the term “desired movement path” as defined herein may represent a desired trench path, in other words, a path that is to be excavated by the work machine  100 . The desired movement path  140 ,  142 ,  144  may include one or more of a straight path, a curved path, a number of straight paths (such as the straight paths  158 ,  160 ,  162  illustrated in  FIG.  4   ), and a combination thereof. The desired movement path  140 ,  142 ,  144  may be determined based on one or more of a geometry of a trench, a ditch, or a foundation, a shape of the trench, the ditch, or the foundation, a center of the trench, the ditch, or the foundation, an edge of the trench, the ditch, or the foundation, and the like. Further, the geometry of the trench, the ditch, or the foundation may include parameters, such as, a depth, a height, a length, and the like. The desired movement path  140 ,  142 ,  144  may generally include a line or a path that the work machine  100  may follow while moving from one location to another. Moreover, the desired movement path  140 ,  142 ,  144  may be prestored in the memory  148  associated with the controller  146 , provided as a path input “I 2 ” by the machine operator, or determined by the controller  146 . 
     The controller  146  may also include a processor  150 . The processor  150  may be communicably coupled with the memory  148 . The processor  150  may receive and process one or more input signals received from the input device  128 , the output device  130 , the first sensor  132 , the second sensor  138 , and the machine controller  134 . The processor  150  may include a processing unit such as a digital signal processor (DSP), an application-specific system processor (ASSP), an application-specific instruction set processor (ASIP), and the like. The processor  150  may also include a microprocessor, and/or any processing logic such as a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), and the like. The processor  150  may include an arithmetic logic unit (ALU) to execute one or more arithmetic and logical functions. 
     The processor  150  may include one or more modules, such as a path planning module  152 , a drive module  154 , and a path tracker module  156  that may be based on data retrieved from the memory  148 . For example, the processor  150  may include the path planning module  152  to plan the travel of the work machine  100  such that the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . The controller  146  receives the data indicative of the position parameter of the work machine  100  from the sensor  138 . The controller  146  also collects data indicative of the desired movement path  140 ,  142 ,  144  for the work machine  100  to reach the desired location “L 1 ”. More particularly, in an example, the path planning module  152  may collect data indicative of the desired movement path  140 ,  142 ,  144 . In some examples, the path planning module  152  may receive the path input “I 2 ” indicative of the desired movement path  140 ,  142 ,  144  from the machine operator via the input device  128 . 
     In an example, the path planning module  152  may determine and display the multiple desired movement paths  140 ,  142 ,  144  on the output device  130 . In such examples, the machine operator may select any one of the desired movement paths  140 ,  142 ,  144 . Alternatively, the machine operator may generate the desired movement path  140 ,  142 ,  144  in real time using touch screen devices present in the operator cabin  126 . For example, the ground surface  124  may be depicted on the touch screen device and the operator may draw the desired movement path  140 ,  142 ,  144  on the touch screen device. Moreover, in some examples, the machine operator may use the imaging device to generate the desired movement path  140 ,  142 ,  144 . For example, personnel may generate a design line on the ground surface  124  and the imaging device may be used to capture an image of the design line. Further, the path planning module  152  may analyze the images of the design line captured by the imaging device to generate the desired movement path  140 ,  142 ,  144 . 
     In another example, the path planning module  152  may retrieve the desired movement path  140 ,  142 ,  144  from the memory  148 , based on application requirements. In yet another example, the path planning module  152  may itself determine the desired movement path  140 ,  142 ,  144  for the work machine  100 . In an example, the desired movement path  140 ,  142 ,  144  may be specified off-board, such as, via a desktop application, and the desired movement path  140 ,  142 ,  144  may be subsequently loaded onto the memory  148 . For example, the memory  148  may store a work plan for the excavation operation and based on the work plan, the path planning module  152  may determine the desired movement path  140 ,  142 ,  144 . 
     Further, the controller  146  determines one or more operating parameters of the work machine  100  to reach the desired location “L 1 ” based on the data indicative of the position parameter of the work machine  100  and the data indicative of the desired movement path  140 ,  142 ,  144 . Specifically, the path planning module  152  may determine the operating parameters to reach the desired location “L 1 ” based on the data indicative of the position parameter of the work machine  100  and the data indicative of the desired movement path  140 ,  142 ,  144 . 
     The operating parameter includes one or more of the desired travel distance of the work machine  100 , a maximum velocity of the work machine  100 , and a desired travel direction of the work machine  100 . The term “desired travel distance” may correspond to a distance between the current location of the work machine  100  and the desired location “L 1 ”. The desired travel distance may be determined based on a size of the work machine  100 , the geometry of the trench, ditch, or the foundation, such as a depth, the location of the work machine  100 , and the desired location “L 1 ”. The size of the work machine  100 , the geometry of the trench, ditch, or the foundation, and the desired location “L 1 ” of the work machine  100  may be prestored in the memory  148  and may be retrieved therefrom by the path planning module  152 . In some examples, the desired location “L 1 ” may be dynamic in nature and may be provided as an input by the machine operator. Further, the location of the work machine  100  may be received from the second sensor  138 . 
     Moreover, in some examples, a value of the desired travel distance may be prestored in the memory  148  associated with the controller  146 . Accordingly, the path planning module  152  may retrieve the value of the desired travel distance from the memory  148 . Further, in some examples, the controller  146  receives an input “I 3 ” from the machine operator for one or more of increasing the desired travel distance and decreasing the desired travel distance. It should be noted that the machine operator may increase or decrease the desired travel distance to vary a positioning of the work machine  100  relative to the desired location “L 1 ”. For example, some machine operators may prefer that the work machine  100  is positioned closer to the desired location “L 1 ” for performing the excavation operation, whereas some machine operators may prefer that the work machine  100  is positioned farther from the desired location “L 1 ” for performing the excavation operation. The machine operator may provide the input “I 3 ” via the input device  128 . 
     In other examples, based on operator preferences, the work machine  100  may halt based on an input received from the machine operator. For example, the work machine  100  may keep moving even after the desired travel distance has elapsed and/or the work machine  100  has moved past the desired location “L 1 ”, until the machine operator provides the input for halting the work machine  100 . Therefore, in such examples, the work machine  100  may travel more than the desired travel distance. Further, the work machine  100  may halt when the machine operator may release a pedal or move a joystick disposed in the operator cabin  126 . In some examples, the work machine  100  may also halt before the work machine  100  has travelled the desired travel distance and/or before the desired location “L 1 ” based on the input received from the machine operator. 
     In some examples, the controller  146  may also generate a prompt screen that may be displayed on the output device  130 . The prompt screen may include different values for the desired travel distance, such that the machine operator may select a desired value for the desired travel distance based on their preference. In such examples, the path planning module  152  may proceed with desired travel distance as selected by the machine operator. 
     Moreover, the term “maximum velocity” as used herein may relate to a velocity at which the work machine  100  may move to reach the desired location “L 1 ”. In some examples, the path planning module  152  may generate commands to ramp up to a velocity not exceeding the maximum velocity and may also ramp back down so that it achieves zero velocity near the desired location “L 1 ”. Further, the maximum velocity of the work machine  100  may be determined by the path planning module  152  based on the location of the work machine  100 , the desired location “L 1 ”, the desired travel distance, one or more characteristics of the ground surface  124 , climatic conditions around the work machine  100 , and the like. The one or more characteristics of the ground surface  124  may include, for example, an inclination at the worksite, a condition of the soil, and the like. 
     In some examples, a value of the maximum velocity may be controllable by the machine operator. In such examples, the path planning module  152  may proceed with the input for the maximum velocity received from the machine operator. The machine operator may provide an input indicative of the maximum velocity to the controller  146 , via the one or more input devices  128  present in the operator cabin  126 . 
     In an example, the maximum velocity may be dynamically controlled by the machine operator. In some examples, the input indicative of the maximum velocity may be provided by the machine operator using dual control input devices or single control input devices. The dual control input devices may include dual pedal-controls or dual joystick-controls, without any limitations. Further, the single control input devices may include a single pedal-control or a single joystick-control, without any limitations. Furthermore, when using dual control input devices, inputs being received from each of the dual control input devices may be reduced to a single input to indicate the maximum velocity. The single input may be a minimum value of the inputs being received from each of the dual control input devices, a maximum value of the inputs being received from each of the dual control input devices, or an average of the inputs being received from each of the dual control input devices. 
     In some examples, the controller  146  may also generate a prompt screen that may be displayed on the output device  130 . The prompt screen may include different values for the maximum velocity, such that the machine operator may select a desired value for the maximum velocity based on their preference. In such examples, the path planning module  152  may proceed with the desired value for the maximum velocity selected by the machine operator. 
     In some examples, when the semi-autonomous travel feature is activated and the work machine  100  is moving towards the desired location “L 1 ”, the machine operator may be able to accelerate or decelerate the work machine  100  to increase or decrease the maximum velocity of the work machine  100 . Thus, when the semi-autonomous travel feature is activated, the machine operator may be able to increase and/or decrease the maximum velocity and increase and/or decrease the travel distance. In an example, the machine operator may be able to halt the work machine  100  before travelling the desired travel distance and/or before reaching the desired location “L 1 ”. In another example, the machine operator may halt the work machine  100  after the work machine  100  has travelled the desired travel distance and/or after the work machine  100  has moved past the desired location “L 1 ”. However, when the semi-autonomous travel feature is activated, the machine operator may not be able to steer the work machine  100 . If desired, the machine operator may activate the brakes to halt the travel of the work machine  100  or disable the semi-autonomous travel feature based on usage of a particular input device  128  dedicated for disabling the semi-autonomous travel feature. 
     Further, the path planning module  152  may also determine the desired travel direction of the work machine  100 . In an example, the desired travel direction may be determined based on the desired location “L 1 ” and the current travel direction of the work machine  100  received from the sensor  138 , such that the movement of the work machine  100  in the desired travel direction may allow the work machine  100  to reach the desired location “L 1 ”. Moreover, the path planning module  152  may also determine a position of the operator cabin  126  relative to the undercarriage structure  120 . In an example, if the yaw angle of the operator cabin  126  does not lie within the predetermined threshold angle, the path planning module  152  may generate a notification for the operator to adjust the position of the operator cabin  126  before initiating the travel of the work machine  100 . 
     Further, the controller  146  generates a first control signal “O 1 ” for controlling the travel of the work machine  100  based on the determination of the operating parameter, such that the one or more components  116  of the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . More particularly, the processor  150  may include the drive module  154  that may generate the first control signal “O 1 ” for controlling the travel of the work machine  100 . The drive module  154  may be communicably coupled to the path planning module  152  and the machine controller  134 . The drive module  154  may receive the operating parameters, i.e., the maximum velocity, and the desired travel distance of the work machine  100  for generating the first control signal “O 1 ”. 
     In an example, the drive module  154  may convert the maximum velocity into track command values for operation of the ground engaging members  122 . For example, the first control signal “O 1 ” may be indicative of the track command values, such as a value of a desired track percentage flow to each ground engaging member  122 , that may be required for moving the work machine  100  at the maximum velocity. The drive module  154  may transmit the first control signal “O 1 ” to the machine controller  134 . Based on the first control signal “O 1 ”, the machine controller  134  may generate signals, such as voltage signals. The signals generated by the machine controller  134  may be transmitted to machine components, such as, hydraulic valves or hydraulic motors, to operate the ground engaging members  122 , so that the work machine  100  moves at the maximum velocity. 
     The processor  150  may further include the path tracker module  156 . The path tracker module  156  may be communicably coupled to the first sensor  132 , the second sensor  138 , the input device  128 , and the output device  130 . The controller  146  may receive a feedback from the sensor  132 ,  138  to determine the alignment of the one or more components  116  of the work machine  100  with the desired movement path  140 ,  142 ,  144  during the travel of the work machine  100  along the desired movement path  140 ,  142 ,  144 . In some examples, the feedback may be received after regular intervals of time. 
     In the illustrated example of  FIG.  2   , the path tracker module  156  may receive the feedback from the first sensor  132  and/or the second sensor  138  to determine the alignment of the work implement  116  with the desired movement path  140 ,  142 ,  144  during the travel of the work machine  100  along the desired movement path  140 ,  142 ,  144 . In one example, the path tracker module  156  may receive input signals from the second sensor  138  to determine the alignment or the misalignment of the work machine  100  with the desired movement path  140 ,  142 ,  144  based on the location of the work machine  100  relative to the desired movement path  140 ,  142 ,  144 . In another example, the path tracker module  156  may receive input signals from the first sensor  132  to determine the alignment or the misalignment of the work machine  100  with the desired movement path  140 ,  142 ,  144  based on the yaw angle of the operator cabin  126 . In yet another example, the alignment or the misalignment of the work machine  100  may be determined based on a combination of the inputs received from the first and second sensors  132 ,  138 . 
     In some examples, the feedback may be indicative of an amount by which the work machine  100  is offset from the desired movement path  140 ,  142 ,  144 . In an example, the feedback may be indicative of a current offset distance between a center of the work machine  100  and the desired movement path  140 ,  142 ,  144 . It should be noted that, in some examples, the path tracker module  156  may retrieve a value for an allowable offset distance from the memory  148 . In situations wherein the current offset distance is greater than the allowable offset distance, the path tracker module  156  may determine the misalignment of the work machine  100  with the desired movement path  140 ,  142 ,  144 . 
     Further, the controller  146  updates the operating parameter of the work machine  100  if the one or more components  116  of the work machine  100  is not in alignment with the desired movement path  140 ,  142 ,  144 . More particularly, the path tracker module  156  may transmit information related to the misalignment of the work machine  100  relative to the desired movement path  140 ,  142 ,  144  to the path planning module  152 . Based on the information from the path tracker module  156 , the path planning module  152  may update the operating parameters of the work machine  100 . It should be noted that the operating parameters may be updated in a manner that is similar to the determination of the operating parameters as explained earlier in this section. In some examples, the path planning module  152  may generate an improvised travel plan for the work machine  100  based on the feedback received from the path tracker module  156 . The improvised travel plan may include the updated operating parameters that may allow the work machine  100  to realign with the desired movement path  140 ,  142 ,  144 . 
     Further, the controller  146  may generate a second control signal “O 2 ” for controlling the travel of the work machine  100  based on the updated operating parameters, such that the one or more components  116  of the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . More particularly, the drive module  154  may generate the second control signal “O 2 ” for controlling the travel of the work machine  100 , such that the one or more components  116  of the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . It should be noted that the second control signal “O 2 ” may be generated in a manner that is similar to the determination of the first control signal “O 1 ” as explained earlier in this section. Further, the drive module  154  may provide the second control signal “O 2 ” to the machine controller  134  to control the ground engaging members  122  for moving the work machine  100  in alignment with the desired movement path  140 ,  142 ,  144 . In some examples, the path tracker module  156  may provide a visual feed of the travel of the work machine  100  to notify the operator regarding the alignment of the work machine  100  with the desired movement path  140 ,  142 ,  144 . In an example, the output device  130  may display the visual feed of the work machine  100  and the desired movement path  140 ,  142 ,  144 . For example, an image or a video including a line/curve representing the desired movement path  140 ,  142 ,  144  may be overlayed on the ground surface  124 . Such an image or video may additionally or optionally include a graphical representation of the work machine  100  so the machine operator is made aware of the alignment or misalignment of the work machine  100  with the desired movement path  140 ,  142 ,  144 . 
     The movement of the work machine  100  along the respective desired movement paths  140 ,  142 ,  144  will not be explained in relation to  FIGS.  3 ,  4 , and  5   . It should be noted that in  FIGS.  3 ,  4 , and  5   , the work machine  100  embodied as the hydraulic excavator may travel in a reverse/backward direction with respect to the machine operator seated within the operator cabin  126 . In other examples, the work machine  100  embodied as the hydraulic excavator may travel in a forward direction with respect to the machine operator seated within the operator cabin  126 , based on a preference of the machine operator. Alternatively, when the work machine  100  is embodied as a motor grader, for example, the work machine  100  may move in the forward direction with respect to the machine operator seated within the operator cabin  126 . 
       FIG.  3    illustrates the exemplary first desired movement path  140  for the work machine  100 . The first desired movement path  140  includes the straight path herein. The work machine  100  may be disposed at a starting point “SP” at a beginning of an excavation operation. Further, the first desired movement path  140  includes a first excavation position “P 1 ” of the work machine  100  and a second excavation position “P 2 ” of the work machine  100 . It should be noted that a distance defined between the first excavation position “P 1 ” and the second excavation position “P 2 ” is exemplary in nature and the distance may increase or decrease, as per application requirements. 
     For reaching the first excavation position “P 1 ”, the work machine  100  may travel in a direction “D 1 ”. Once the work machine  100  reaches the first excavation position “P 1 ”, the work machine  100  may perform excavation operations at the first excavation position “P 1 ”. Further, when the work machine  100  is to be moved from the first excavation position “P 1 ” to the second excavation position “P 2 ”, the operator may send the input “I 1 ” (see  FIG.  2   ) to the controller  146  (see  FIG.  2   ). Based on the receipt of the input “I 1 ”, the controller  146  may generate the first control signal “O 1 ” (see  FIG.  2   ) to move the work machine  100  from the first excavation position “P 1 ” towards the second excavation position “P 2 ” such that the work machine  100  is in alignment with the desired movement path  140 . 
     Further, after performing excavation operations at the second excavation position “P 2 ”, the work machine  100  may further move along the desired movement path  140  in the reverse direction for performing excavation operations at one or more excavation points (not shown herein) along the desired movement path  140 . In an example, the work machine  100  may move beyond the excavation points “P 1 ”, “P 2 ” to ensure that excavation operations have been performed at all desired locations along the first desired movement path  140 . In some examples, the path planning module  152  or the path tracker module  156  may control the movement of the work machine  100  such that, while moving along the first desired movement path  140 , the work machine  100  may avoid movement of the work machine  100  over any areas that may have material dumped thereon. 
       FIG.  4    illustrates an exemplary second desired movement path  142  of the work machine  100 . The second desired movement path  142  includes the number of straight paths  158 ,  160 ,  162 . The work machine  100  may be disposed at a starting point “SP” at a beginning of an excavation operation. Further, the second desired movement path  142  includes a first excavation position “P 1 ” of the work machine  100 , a second excavation position “P 2 ” of the work machine  100 , and a third excavation position “P 3 ” of the work machine  100 . It should be noted that a distance defined between the first excavation position “P 1 ”, the second excavation position “P 2 ”, and the third excavation position “P 3 ” is exemplary in nature and the distance may increase or decrease, as per application requirements. From the starting point “SP”, the work machine  100  may move along a direction “D 2 ” such that the work machine  100  may be disposed at the first excavation position “P 1 ” for performing one or more excavation operations at the first excavation position “P 1 ”. 
     When the excavation operations are concluded at the first excavation position “P 1 ”, the work machine  100  may have to be moved to the second excavation position “P 2 ”. For this purpose, the controller  146  (see  FIG.  2   ) determines one or more first straight paths  158  from the number of straight paths  158 ,  160 ,  162  and one or more second straight paths  160  from the number of straight paths  158 ,  160 ,  162 , such that the first straight path  158  and the second straight path  160  are angularly disposed relative to each other. More particularly, the path planning module  152  (see  FIG.  2   ) determines the first straight path  158  and the second straight path  160 . Further, the path planning module  152  may also determine an angle “S 1 ” defined between the first straight path  158  and the second straight path  160 . In some examples, the angle “S 1 ” defined between the first straight path  158  and the second straight path  160  may be less than or equal to about 180 degrees. 
     The controller  146  determines a transition path  164  based on the determination of the first straight path  158  and the second straight path  160  for moving the work machine  100  from the first straight path  158  to the second straight path  160 . More particularly, the path planning module  152  determines the transition path  164  if the angle “S 1 ” is less than or equal to about 180 degrees. In some examples, the angle “S 1 ” may be less than 90 degrees. It should be noted that the term “transition path” as mentioned herein merely represents a path used by the work machine  100  to reach various excavation positions. It should be noted that the work machine  100  may not perform any excavation operations when the work machine  100  is moving on such transition paths. 
     In the illustrated example of  FIG.  4   , the path planning module  152  determines the one or more operating parameters of the work machine  100  to move the work machine  100  from the first excavation position “P 1 ” to the second excavation position “P 2 ” based on the data indicative of the position parameter of the work machine  100  and the data indicative of the desired movement path  142 . Moreover, the controller  146  generates a third control signal “O 3 ” (see  FIG.  2   ) for moving the work machine  100  along the transition path  164  to dispose the work machine  100  on the second straight path  160 . More particularly, the drive module  154  (see  FIG.  2   ) generates the third control signal “O 3 ” for moving the work machine  100  along the transition path  164  to dispose the work machine  100  on the second straight path  160 . As illustrated herein, the first transition path  164  include the straight path  158  between the first excavation position “P 1 ” and a location “L 2 ”. Accordingly, when the semi-autonomous travel feature is activated, the work machine  100  may move along the direction “D 2 ” from the first excavation position “P 1 ” to the location “L 2 ”. Moreover, the first transition path  164  may include a curved path between the location “L 2 ” and a location “L 3 ”. It should be noted that the transition path  164  may be decided such that the work machine  100  may have to travel a minimum distance and such that the work machine  100  may cause minimum disturbance to the ground surface  124  (see  FIG.  1   ). Further, when the semi-autonomous travel feature is activated, the work machine  100  may move along a direction “D 3 ” from the location “L 2 ” to the location “L 3 ”. The work machine  100  may then move along a direction “D 4 ” from the location “L 2 ” to the second excavation position “P 2 ”. 
     Moreover, for moving the work machine  100  from the second excavation position “P 2 ” to the third excavation position “P 3 ”, the controller  146  may generate a transition path  166  for moving the work machine  100  from the second straight path  160  to the third straight path  162 . The transition path  166  may be generated by the path planning module  152  in a manner similar to the generation of the transition path  164 . Further, for moving the work machine  100  from the second excavation position “P 2 ” to the third excavation position “P 3 ”, the work machine  100  may move in a direction that is opposite to the direction “D 4 ” to reach the location “L 3 ”. From the location “L 3 ”, the work machine  100  may move along a direction “D 5 ” to a location “L 4 ”. The work machine  100  may then move along a direction “D 6 ” from the location “L 4 ” to reach the third excavation position “P 3 ”. Further, after performing excavation operations at the third excavation position “P 3 ”, the work machine  100  may move in a direction opposite to the direction “D 6 ” for performing excavation operations at other excavation points (not shown herein) along the third straight path  162 . 
     In an example, the work machine  100  may move beyond the excavation points “P 1 ”, “P 2 ”, “P 3 ” to ensure that excavation operations have been performed at all desired locations along the second desired movement path  142 . In some examples, the path planning module  152  or the path tracker module  156  may control the movement of the work machine  100  such that, while moving along the second desired movement path  142 , the work machine  100  may avoid movement of the work machine  100  over any areas that may have material dumped thereon. It should be noted that, for the purpose of clarity, the starting point “SP”, the excavation points “P 1 ”, “P 2 ”, “P 3 ”, and the locations “L 3 ”, “L 4 ”, and “L 5 ” are marked outside of the second desired movement path  142 . However, in actuality, the starting point “SP”, the excavation points “P 1 ”, “P 2 ”, “P 3 ”, and the locations “L 3 ”, “L 4 ”, and “L 5 ” may be coincident with the second desired movement path  142 .  FIG.  5    illustrates the exemplary third desired movement path  144  of the work machine  100 . The third desired movement path  144  includes a curved path herein. The work machine  100  may be disposed at a starting point “SP” at a beginning of an excavation operation. Further, the third desired movement path  144  includes a first excavation position “P 1 ” of the work machine  100  and a second excavation position “P 2 ” of the work machine  100 . It should be noted that a distance defined between the first excavation position “P 1 ” and the second excavation position “P 2 ” is exemplary in nature and the distance may increase or decrease, as per application requirements. As illustrated in  FIG.  5   , a path between the first excavation position “P 1 ” and the second excavation position “P 2 ” is a curved path. For reaching the first excavation position “P 1 ”, the work machine  100  may travel in a direction “D 7 ”. Once the work machine  100  reaches the first excavation position “P 1 ”, the work machine  100  may perform excavation operations at the first excavation position “P 1 ”. 
     Further, when the work machine  100  is to be moved from the first excavation position “P 1 ” to the second excavation position “P 2 ”, the machine operator may send the input “I 1 ” (see  FIG.  2   ) to the controller  146  (see  FIG.  2   ). Based on the receipt of the input “I 1 ”, the controller  146  may determine the desired movement path  144 . In some examples, when the desired movement path  144  is curved, the path planning module  152  (see  FIG.  2   ) may determine a radius of curvature “R 1 ” of the desired movement path  144 . If the radius of curvature “R 1 ” is greater than a predetermined value, the path planning module  152  may generate the operating parameters for the travel of the work machine  100 . The predetermined value for the radius of curvature “R 1 ” may correspond to a maximum value for the radius of curvature “R 1 ” along which the work machine  100  may be able to move. Further, based on the generation of the operating parameters, the controller  146  may generate the first control signal “O 1 ” to move the work machine  100  from the first excavation position “P 1 ” to the second excavation position “P 2 ”, such that the work machine  100  is in alignment with the desired movement path  144 . However, if the radius of curvature “R 1 ” of the desired movement path  144  is lesser than the predetermined value, the path tracker module  156  may generate signals to move the work machine  100  along a transition path, similar to the transition paths  164 ,  166  explained in relation to  FIG.  4   . 
     Further, after performing excavation operations at the second excavation position “P 2 ”, the work machine  100  may move along the desired movement path  144  in the reverse direction for performing excavation operations at other excavation points (not shown herein) along the desired movement path  144 . In some examples, the work machine  100  may move beyond the excavation points “P 1 ”, “P 2 ” to ensure that excavation operations have been performed at all desired locations along the third desired movement path  144 . In some examples, the path planning module  152  or the path tracker module  156  may control the movement of the work machine  100  such that while moving along the third desired movement path  144 , the work machine  100  may avoid movement of the work machine  100  over any areas that may have material dumped thereon. It should be noted that, for the purpose of clarity, the starting point “SP” and the excavation points “P 1 ”, “P 2 ”, “P 3 ” are marked outside of the third desired movement path  144 . However, in actuality, the starting point “SP” and the excavation points “P 1 ”, “P 2 ”, “P 3 ” may be coincident with the third desired movement path  144 . 
     The controller  146  and the machine controller  134  (see  FIG.  2   ) may embody a single microprocessor or multiple microprocessors for receiving signals from various components of the work machine  100 . Numerous commercially available microprocessors may be configured to perform the functions of the controller  146  and the machine controller  134 . A person of ordinary skill in the art will appreciate that the controller  146  and the machine controller  134  may additionally include other components and may also perform other functions not described herein. A person of ordinary skill in the art will appreciate that the controller  146  and the machine controller  134  may include multiple components for performing intended functions/operations. 
     INDUSTRIAL APPLICABILITY 
     The present disclosure relates to the system  136  and a method  600  for controlling the travel of the work machine  100  during the excavation operation. During excavation operations, it may be desirable that the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . The system  136  and the method  600  describes techniques that allow alignment of the work machine  100  with the desired movement path  140 ,  142 ,  144 . Thus, the work machine  100  may cause minimal disturbance to the ground surface  124  which may in turn cause minimal inadvertent displacement of soil from the ground surface  124 . Furthermore, the alignment of the work machine  100  with the desired movement path  140 ,  142 ,  144  may increase efficiency and productivity of the excavation operation while reducing operation time and operator efforts. Additionally, the work machine  100  aligned with the desired movement path  140 ,  142 ,  144  may allow formation of a straighter trench or foundation. 
     The semi-autonomous travel feature enabled by the system  136  of the present disclosure aligns the work machine  100  with respect to the desired movement path  140 ,  142 ,  144  during the travel of the work machine  100 . The semi-autonomous travel feature is enabled during the travel of the work machine  100  between various excavation positions. Further, the semi-autonomous travel feature may monitor the alignment of the work machine  100  relative to the desired movement path  140 ,  142 ,  144  in real time by providing positioning error feedback. As some work machines, such as the work machine  100  described herein, may not be able to move sideways, the path planning module  152  may generate an improvised travel plan by generating updated operating parameters so that the work machine  100  may realign with the desired movement path  140 ,  142 ,  144  without causing disturbances to the ground surface  124 . Further, the real time tracking of the alignment by the path tracker module  156  of the controller  146  may reduce operator efforts as the machine operator may not have to spend additional time and fuel aligning the work machine  100  with the desired movement path  140 ,  142 ,  144 . Moreover, the transition paths  164 ,  166  may allow the work machine  100  to easily execute the excavation operation on straight paths or curved paths having small radius of curvatures. Additionally, the transition paths  164 ,  166  may be defined in such a way that the travel of the work machine  100  along the transition paths  164 ,  166  may create minimum disturbance to the ground surface  124 . 
     Further, the semi-autonomous travel feature may be initiated by the machine operator based on usage of the input devices  128 . Furthermore, when the semi-autonomous travel feature is activated, the machine operator may control the maximum velocity of the work machine  100  and increase or decrease the desired travel distance. Moreover, the machine operator may be able to halt the work machine  100  before the work machine  100  has travelled the desired travel distance. Moreover, the machine operator may halt the work machine  100  after the work machine  100  has travelled the desired travel distance. However, when the semi-autonomous travel feature is activated, the controller  146  may not allow the machine operator to steer the work machine  100 . In some examples, the machine operator may deactivate the semi-autonomous travel feature based on activation of the brakes or usage of a dedicated input device  128 , as per application requirements. 
       FIG.  6    illustrates a flowchart for the method  600  for controlling the travel of the work machine  100  during the excavation operation. At step  602 , the controller  146  receives data indicative of the one or more position parameters of the work machine  100  from the one or more sensors  132 ,  138 . The position parameter includes one or more of the orientation of the work machine  100  and the location of the work machine  100 . Further, the controller  146  receives the input “I 1 ” from the machine operator for initiating the travel of the work machine  100 , such that the one or more components  116  of the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . 
     At step  604 , the controller  146  collects data indicative of the desired movement path  140 ,  142 ,  144  for the work machine  100  to reach the desired location “L 1 ”. Further, the desired movement path  140 ,  142 ,  144  is prestored in the memory  148  associated with the controller  146 , provided as the path input “I 2 ” by the machine operator, or determined by the controller  146 . 
     At step  606 , the controller  146  determines the one or more operating parameters of the work machine  100  to reach the desired location “L 1 ” based on the data indicative of the position parameter of the work machine  100  and the data indicative of the desired movement path  140 ,  142 ,  144 . The operating parameter includes one or more of the desired travel distance of the work machine  100 , the maximum velocity of the work machine  100 , and the desired travel direction of the work machine  100 . Additionally, the controller  146  may receive the input “I 3 ” from the machine operator for one or more of increasing the desired travel distance and decreasing the desired travel distance. Further, the controller  146  receives the value of the desired travel distance from the memory  148  associated with the controller  146 . Moreover, the value of the maximum velocity is controllable by the machine operator. 
     At step  608 , the controller  146  generates the first control signal “O 1 ” for controlling the travel of the work machine  100  based on the determination of the operating parameter, such that the one or more components  116  of the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . The one or more components  116  of the work machine  100  includes the work implement  116 . 
     Further, in some examples, the controller  146  receives the feedback from the sensor  132 ,  138  to determine the alignment of the one or more components  116  of the work machine  100  with the desired movement path  140 ,  142 ,  144  during the travel of the work machine  100  along the desired movement path  140 ,  142 ,  144 . Furthermore, the controller  146  updates the operating parameter of the work machine  100  if the one or more components  116  of the work machine  100  is not in alignment with the desired movement path  140 ,  142 ,  144 . Moreover, the controller  146  generates the second control signal “O 2 ” for controlling the travel of the work machine  100  based on the updated operating parameter, such that the one or more components  116  of the work machine  100  is in alignment with the desired movement path  140 ,  142 ,  144 . 
     In some examples, the desired movement path  140 ,  142 ,  144  includes one or more of the straight path, the curved path, the number of straight paths  158 ,  160 ,  162 , and a combination thereof. In an example, the controller  146  determines the one or more first straight path  158  from the number of straight paths  158 ,  160 ,  162  and the one or more second straight path  160  from the number of straight paths  158 ,  160 ,  162 , such that the first straight path  158  and the second straight path  160  are angularly disposed relative to each other. The angle “S 1 ” defined between the first straight path  158  and the second straight path  160  may be less than or equal to about 180 degrees. The controller  146  also determines the transition path  164  based on the determination of the first straight path  158  and the second straight path  160  for moving the work machine  100  from the first straight path  158  to the second straight path  160 . The controller  146  generates the third control signal “O 3 ” for moving the work machine  100  along the transition path  164  to dispose the work machine  100  on the second straight path  160 . 
     Unless explicitly excluded, the use of the singular to describe a component, structure, or operation does not exclude the use of plural such components, structures, or operations or their equivalents. The use of the terms “a” and “an” and “the” and “at least one” or the term “one or more,” and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B” or one or more of A and B″) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B; A, A and B; A, B and B), unless otherwise indicated herein or clearly contradicted by context. Similarly, as used herein, the word “or” refers to any possible permutation of a set of items. For example, the phrase “A, B, or C” refers to at least one of A, B, C, or any combination thereof, such as any of: A; B; C; A and B; A and C; B and C; A, B, and C; or multiple of any item such as A and A; B, B, and C; A, A, B, C, and C; etc. 
     While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems, and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.