| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a self-propelled vehicle which includes a control unit generating a control amount based on a maneuvering operation, a caster wheel enabling free steering, first and second drive sections independently driven and controlled by control commands, a left drive wheel driven and controlled with the first drive section, and a right drive wheel with the second drive section and which enables free crossing on a tilted slope while driving and travelling without requiring much experience in the maneuvering operation. <P>SOLUTION: The self-propelled vehicle includes a drive torque calculating unit for calculating a necessary drive torque required for the first and second drive sections, a compensation torque calculating unit for calculating a compensation torque to eliminate displacement between a target travel direction and an actual travel direction during a bank traversing travel, on the basis of an ascent of the vehicle relative to the first and second drive sections, and a compensating unit for compensating a control amount on the basis of the required drive torque and the compensation torque. <P>COPYRIGHT: (C)2013,JPO&INPIT |
