| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a controller for an autonomous-running service vehicle that detects a position of a service vehicle in a scheduled running area by using a simple calibration. <P>SOLUTION: The controller drives a prime motor based on running directions calculated based on outputs of an angular velocity sensor to run around a boundary of the scheduled running area from a predetermined origin in accordance with outputs of a direction (geomagnetism) sensor. Meanwhile the controller sequentially records the calculated running directions and running distances onto a bit map divided into plural bits to create a running trajectory on a boundary of the scheduled running area (S10 to S14), converts the created running trajectory to map information (S18), identifies (detects) the position of a service vehicle based on the bit of the map information, and drives the service vehicle to run straight while making it work based on the calculated running directions and the running distances and the detected position with reference to a specified direction obtained from the outputs of the direction sensor (S20). <P>COPYRIGHT: (C)2012,JPO&INPIT |
