| 摘要 |
Apparatus and a method of controlling the position of a vehicle on a track comprising a measurement sensor for measuring the lateral position of the vehicle on a track, a subtractor to produce an error signal based on the difference from the actual position to the desired track position, a second measurement sensor to measure the angle of the vehicle relative to the longitudinal axis of the track wherein a controller steers a vehicle based on the two measurements. An optical sensor may be used to measure position on a track with shaded greyscale or infrared markings. A velocity sensor may also be used to control the steering. Measurement of the angle of the vehicle may be performed by measurements of the position of the vehicle on the track at its front and rear. |
