TRAVELLING DEVICE, METHOD FOR CONTROLLING THE SAME, AND CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a travelling device for improving safety, and a method and program for controlling it.

SOLUTION: The travelling device travels as desired while performing inversion control. The travelling device is equipped with: a grounding member that operates to be grounded or not to be grounded to a road; a driving means that drives the grounding member; a controlling means for controlling the drive of the driving means; an abnormality degree calculating means for calculating an abnormality degree of a travelling state; and an upper limit calculating means for changing an upper limit of a distance between the grounding member and the road depending on the abnormality degree of the travelling state calculated by the abnormality degree calculating means. The controlling means controls the drive of the driving means so that the distance between the grounding member and the road gets to the upper limit or less calculated by the upper limit calculating means.

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