Patent ID: 8359142

Claim:
A mobile machine comprising: a task payload system; a propulsion system; a steering system; a braking system; a sensor system for collecting data regarding an operating environment for the mobile machine; a monitoring system; and a machine controller coupled to the task payload system, the propulsion system, the steering system, the braking system, the sensor system, and the monitoring system; wherein the machine controller measures a height of the vegetation during a scheduled task of the mobile machine, compares the measured height of the vegetation with a calculated height of the vegetation, and adjusts an amount of the substance applied by an irrigation system to an area containing the vegetation based on a difference between the measured height of the vegetation and the calculated height of the vegetation, wherein the machine controller decreases the amount of the substance applied by the irrigation system to the area containing the vegetation in response to the measured height of the vegetation being greater than the calculated height of the vegetation.