| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a moving body that properly travels on a set track. <P>SOLUTION: The moving body 10 includes a driving wheel 130, a position information acquiring means 110 acquiring the current position and direction, a storage means 120 storing the position information acquired by the position information acquiring means 110 and information on the track of the moving body, and a control means 140. The control means 140 includes a computation means 141 for determining distance deviation and angular deviation and calculating a relation between the rotating speed of the driving wheel and a temporal change of the distance deviation and angular deviation, and a setting means 142 for giving a feed-forward value as a translation velocity of the moving body, to perform feedback control by use of the distance deviation, angular deviation and the temporal change of the distance deviation that uses the same gain as that of the distance deviation. <P>COPYRIGHT: (C)2012,JPO&INPIT |
