| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a traveling control means-equipped unmanned car capable of easily performing a non-path guided traveling with a small computation quantity. SOLUTION: A system allows the unmanned car to compute only a virtual guided line (reference guided line) to which the unmanned car 10 refers so as to sequentially switch over reference guided lines, instead of performing traveling control while always computing all the virtual guided lines (entire virtual traveling paths). In addition, if the unmanned car largely deviates from the reference guided line, the unmanned car selects the nearest node thereto to compute all possible virtual guided lines which may be generated from this node and sets the nearest virtual guided line out of these virtual guided lines to the unmanned car as a new reference guided line. In addition, when the unmanned car pivots on the node, the unmanned car computes all possible virtual guided lines which may be generated from the node and computes each angle constituted by these virtual guided lines and the oriental vectors of the unmanned car to set the virtual guided line with the smallest angle out of these angles as a new reference guided line.</p> |
