MOVING BODY GUIDANCE SYSTEM AND GUIDANCE METHOD

摘要

<P>PROBLEM TO BE SOLVED: To provide a moving body guidance system and a guidance method allowing a moving body to be more precisely guided with relatively simple facilities in a tunnel. Ž<P>SOLUTION: The moving body guidance system includes: a laser scanner 13; a storage unit 15a for storing a three dimensional map along a longitudinal direction in a tunnel T; a position estimator 15b for estimating a position in the longitudinal direction by using a moving distance detected by an internal sensor 14; a position estimator 15c for estimating the position in the longitudinal direction based on a relative position to a light reflector Ts; a selector 15d for preferentially selecting the position in the longitudinal direction estimated by the position estimator 15c; a corrector 15e for correcting a measurement start position of the position estimator 15b; an arithmetic unit 15f for finding out the position and posture information of a carrier vehicle 3A from observed shape data, shape data of the three dimensional map, and the estimate position selected by the selector 15d; and an absolute guidance controller 15g for absolutely guiding the carrier vehicle 3A based on the position and posture information. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž