| 摘要 |
<p>A control system for an unmanned carrier vehicle (1), capable of automatically and independently traveling along a guiding line (11) laid on a floor, provides a steering angle control unit and/or a velocity control unit. Herein, when the unmanned carrier vehicle is deviated from the guiding line, its deviation is detected. By performing a time-differentiation (i.e., time derivation) on the deviation, a deviation direction of the unmanned carrier vehicle is computed. In addition, a steering angle of a steering wheel of the unmanned carrier vehicle is detected by a sensor (DT, 7a, 7b) provided at a wheel of the unmanned carrier vehicle. Based on a result of a fuzzy inference to be performed on the deviation, deviation direction and steering angle, the steering angle control unit controls the steering angle of the unmanned carrier vehicle. Similarly, the velocity control unit controls a traveling velocity of the unmanned carrier vehicle. Incidentally, the fuzzy inference is performed in accordance with the predetermined fuzzy control regulation. <IMAGE></p> |
