| 摘要 |
In an apparatus for controlling an autonomous operating vehicle having an operating machine and a magnetic sensor adapted to detect a border of a travel-scheduled area, the vehicle is controlled to travel around the area from a start point along the border to sequentially record traveling directions and traveled distances on a bitmap. The generated travel trajectory is transformed to map information. A position of the vehicle is detected using bits of the bitmap of the transformed map information, and the vehicle is controlled to, as traveling straight in the north-south directions, while perform the operation with the operating machine based on the calculated traveling direction, the calculated traveled distance and the determined position, utilizing a primary reference direction obtained from a geomagnetic sensor as a reference.
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