SYSTEMS AND METHODS FOR COLLISION AVOIDANCE FOR SHAPE CHANGING MACHINES

A collision avoidance system and method for a mobile machine includes determining a boundary zone and providing a notification and/or control command to prevent a collision with another object. A first safety zone associated with a first and second portion of the mobile machine is determined. A second safety zone associated with the second portion of the mobile machine is determined. A boundary zone is determined as a function of a combination of the first and second safety zone. A notification and/or a control command is provided based on a relationship of an object to the boundary zone.