AUTOMATIC STEERING CONTROLLER FOR TIRE TRACKLESS MOBILE BODY

摘要

PURPOSE: To improve the operating efficiency by preventing a tilt at drive stop and a large deviation at reverse drive. CONSTITUTION: A deviation (x) or a tilt angle (θ) of a mobile body from a reference drive path is detected (1), the tilt angle (θ) or the deviation (x) is calculated from the detected deviation (x) or tilt angle (θ) and the calculated deviation (x) or tilt angle (θ) from the reference drive paths corrected by a speed difference commandΔV given to left and right tires (2) to allow the mobile body to be driven on the reference drive path. The automatic steering controller for the tire trackless mobile body is provided with a function 3 correcting automatically the tilt angleθof the mobile body at drive start and drive stop with priority to prevent a tilt at drive stop and a large deviation at reverse drive thereby improving the operating efficiency.