| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a travel control method for an unmanned vehicle to travel without greatly meandering until a shift amount between the center of a vehicle body and a guide line is zero while gently converging it, and to provide the unmanned vehicle. <P>SOLUTION: When an unmanned forklift changes its moving direction, a travel control device calculates a shift amount between a center position of a guide line detecting sensor before stating travel and the guide line (S120), sets an offset position (S130) and starts the travel of the unmanned forklift (S140). The travel control device controls the unmanned forklift to travel while determining whether it travels a travel distance of 100 mm or not, and procedures are repeated for returning the offset position 1 mm to the side of the center position of the guide line detecting sensor each for the travel distance of 100 mm (S160-S190). The travel control device allows the travel of the unmanned forklift while controlling steering at a small steering angle, therefore preventing the unmanned forklift from travelling while greatly meandering. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
