| 摘要 |
<p>This invention relates to a method of controlling an unmanned vehicle (22). When the destination for the vehicle (22) is nominated a control section (10) determines all nodal points (N) to be traversed in reaching the nominated destination and, in addition, establishes, in consecutive sequence, the travel commands for defining the travel direction and speed at each of the nodes (N) to transmit to a travel section (6) controlling the motion of the vehicle (22). The travel section (6) determines the operating pattern and speed pattern appropriate to its own travel function on the basis of the travel commands supplied from the control section (10) so that, in the vehicle (22) travelling on the path and at the speed corresponding to these operating and speed patterns, the control section (10), after having supplied the travel command N referring to the node (N) to be traversed next, will continue to supply to the travel section all further preestablished travel commands N + 1, N + 2, etc. relating to all subsequent nodes (N) to be traversed thereafter. The travel section (6) refers to the travel commands N + 1, N + 2, etc. to correct, in accordance with its own travel functions, the speed pattern determined on the basis of the Nth travel command.</p> |
