| 摘要 |
A travel control method for a self-propelled carriage having a travel control section for controlling steering-driving wheels. In the method, the steering-driving wheels are steered by a predetermined angle based on a direction change command, and in this state, the carriage is moved forward and backward for a predetermined distance to make the carriage depart from a base line. Then, the carriage is steered toward the base line to return to the base line. After that, the carriage is made to be able to travel along the base line.
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