| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering correction device which is simple in structure and adequately corrects a traveling error of a vehicle every time the wheels slip sideways when the vehicle is turning. SOLUTION: A caster 4 which travels, while quaking, in the direction of the movement of the body 1 of the autonomously traveling vehicle, which turns by controlling the steering angle of a steering wheel 12, is provided on the lower surface of the body 1, and the setting steering angle of the steering wheel 12 is corrected so that the traveling-oscillation angleθS of the caster detected by a caster sensor 5 may agree with a reference oscillation angleθP of the caster found from the setting steering angleαof the steering wheel 12. COPYRIGHT: (C)2004,JPO&NCIPI
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