ADJUSTMENT OF VEHICLE-IMPLEMENT TRAJECTORIES TO COMPENSATE FOR LATERAL IMPLEMENT OFFSET

A system including a mobile vehicle, an implement, a position sensor, a controller, a user interface (a touch-screen monitor, video monitor or keypad, as examples), a software program to compute a calibration trajectory, and a steering system for steering the vehicle to the desired or adjusted trajectory based on the error between the vehicle's desired and actual positions. In one embodiment, non-co-located sensing and control combine with a calibration procedure to help eliminate model error. Another embodiment uses co-located sensing (but not control) to calibrate the model.