| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller for an unmanned work vehicle capable of achieving efficient returning movement up to a charging station.SOLUTION: A controller for an unmanned work vehicle includes: position detecting means for detecting a position of a working vehicle on a map MP formed by arraying a plurality of cells 61 created in a working area AR; cell storing means for identifying a cell 61a that sets a charging device 3, through which the working vehicle has passed during a working mode, as a starting point, on the basis of the position of the working vehicle, and applying a serial cell number to the identified cell 61a to store it; cell selection means for sequentially selecting the cells 61a that are adjacent to each other on a map MP and become reduced in cell numbers, from among the stored cells 61a, when a mode is switched to a return mode; and travel controlling means for controlling travel means so that the working vehicle returns along the selected cell.SELECTED DRAWING: Figure 8 |
