| 摘要 |
<p>A method of, and an apparatus for, smoothly controlling the operation of a moving mechanism, particularly a wheeled one, along a target route. The deviation of the moving mechanism from the target route is calculated, and an operation quantity for controlling the operation of the moving mechanism is decided on the basis of the calculation and a target speed. A steering angle is determined by using this operation quantity and the operation of the moving mechanism is controlled. Because the operation control is executed by using the steering angle in accordance with the deviation from the target route and the target speed, the smooth operation of the moving mechanism can be insured by a simple method.</p> |
