| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller for an unmanned work vehicle capable of travelling in a working area all over.SOLUTION: A controller for an unmanned work vehicle includes: a storage unit for storing a count value, representing a frequency in which a working vehicle has passed through cells 200, for each of the cells 200, on the basis of a position of the vehicle on a map MP of a working area AR in which a plurality of the cells 200 are arrayed; a target cell setting unit for selecting a target cell from among the plurality of cells 200 on the basis of the stored count value to set the target cell; and a travel controlling unit for controlling a travel motor so that the working vehicle travels straight, after the working vehicle travels in the working area AR until the working vehicle reaches a boundary line L0 and turns toward the target cell set by the target cell setting unit when the working vehicle reaches the boundary line L0.SELECTED DRAWING: Figure 7 |
