Patent ID: 8571744

Claim:
A system for automatically guiding a powered vehicle towing an agricultural implement for producing an even distribution of a crop material in a bale, the system comprising: a powered vehicle having, a global positioning system and an automatic guidance system; the powered vehicle comprising a global positioning system (GPS) sensor and an automatic guidance system, the GPS sensor configured to receive information representative of a geographic location of the powered vehicle; and the automatic guidance system comprising a map stored in a data memory; wherein the automatic guidance system is configured to: receive a location information representative of a position of the powered vehicle in the field; retrieve map data defining a first path representing a swath; determine a second path that oscillates about the first path using an algorithm taking into account a projected width of a swath and a width of a chamber of a baler to determine an amplitude of the second path and determining the amplitude from a function such that each side of the chamber traverses the swath in an interval of the oscillation, the automatic guidance system generating a set of points on alternating sides of the first path, the points when connected form the second path such that multiple data points are located on each side of the first path; generate a steering command based on the second path; and execute the steering command by a steering system of the powered vehicle to steer the powered vehicle along a path that corresponds to the second path.