| 摘要 |
This autonomous platform car (100) faithfully reproduces a travel path while faithfully reproducing operations that involve a concept of time, and is provided with a platform car unit (1), a travel unit (2), a storage unit (73), a destination position prediction unit (7531), a corrected velocity calculation unit (7533), and a reproduced travel command calculation unit (7535). The travel unit (2) causes the platform car unit (1) to travel according to travel control commands, the storage unit (73) stores travel path data (500), and in the travel path data (500), multiple sub-goal points, arrival times and travel velocities are stored associated together. During a reproduced travel mode, the destination position prediction unit (7531) predicts a predicted destination position (Po'), the corrected velocity calculation unit (7533) calculates a corrected travel velocity on the basis of a predicted travel distance (Le) and a required travel distance (Lr), and a reproduced travel command calculation unit (7535) calculates, as travel control commands, reproduced travel control commands based on the corrected travel velocity. |
