| 摘要 |
PROBLEM TO BE SOLVED: To suppress degradation in precision of the position or attitude of an autonomous moving truck, and secure working efficiency.SOLUTION: An autonomous moving truck includes driving wheels 12 and 13, a driven wheel 14, and a truck movement control unit 17 that controls movement of the truck. The autonomous moving truck further includes an angle sensor 16 that measures a direction of the driven wheel 14, and a turn angle calculation unit 18 that calculates the turn angle of the driven wheel 14 with respect to an advancing direction of the truck on the basis of the direction of the driven wheel 14 measured by the angle sensor 16, and a speed command value with respect to the advancing direction generated by the truck movement control unit 17. When the turn angle calculated by the turn angle calculation unit 18 is equal to or larger than a predetermined threshold, the speed command value generated by the truck movement control unit 17 is modified to limit a traveling speed.SELECTED DRAWING: Figure 1 |
