| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide the control method and control device of a mobile object, and an unmanned carrier system for precisely making a mobile object autonomously stop at a target position without providing any guide member or the like. Ž<P>SOLUTION: This method for controlling travel of a mobile object 1 equipped with an imaging apparatus 4 includes: making the mobile object 1 travel at a stationary speed on the basis of a teaching image and an actual image; making the mobile object 1 travel at a deceleration speed slower than the stationary speed when the degree of matching between a deceleration start position image preliminarily set from among a plurality of teaching images and the actual image reaches a first threshold; making the mobile object 1 travel at a positioning speed slower than the deceleration speed when the degree of matching between a positioning start position image in the plurality of teaching images and the actual image reaches a second threshold; and making the mobile object 1 stop when the degree of matching between the target position image in the plurality of teaching images and the actual image reaches a third threshold. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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