Patent Document ID: 9624626
Application ID: 14515222
Patent Flag: 1

Claim One:
1. A paving machine comprising: a plurality of adjustable height drive legs; a plurality of sensors affixed to known locations on the paving machine; and a control computer connected to each of the plurality of sensors, wherein the control computer is configured to: receive data from each of the plurality of sensors, the data corresponding to a distance of the sensor from a reference surface; receive a set point defining a desired location and orientation of the paving machine; determine an actual location and orientation of the paving machine based on the data from the plurality of sensors; define one of the adjustable height drive legs as a controlling leg; determine a weighted deviation for each of the plurality of adjustable height drive legs based on the data from the plurality of sensors weighted according to a position of each sensor and a type of each sensor, the weighted deviation corresponding to an extension adjustment to make the actual location and orientation substantially conform to the desired location and orientation by determining a grade deviation associated with the controlling leg, determining a deviation for a first neighboring adjustable height drive leg relative to the controlling leg with reference to a width of the paving machine, determining a deviation for a second neighboring adjustable height drive leg relative to the controlling leg with reference to a length of the paving machine, and determining a deviation for a third neighboring adjustable height drive leg relative to the controlling leg with reference to both the length and the height of the paving machine; and actuate each of the plurality of adjustable height drive legs to apply each determined weighted deviation.