| 摘要 |
<p>PROBLEM TO BE SOLVED: To perform stable steering control even in traveling at a high speed. SOLUTION: In the case a traveling guided body is detected, a traveling wheel of one side part of a chassis main body 1 is subjected to direction change through a master shaft, and a traveling wheel on the other side part of the chassis main body 1 is subjected to direction change through a slave shaft to perform steering control of an unmanned carrier. The target rudder angleθm of the master shaft is operated on the basis of guidance deviationεwith which the traveling guided object is detected. The turning center coordinates (Xo and Yo) of the chassis main body 1 are obtained on the basis of the calculation of the target rudder angleθm of the master shaft. The target rudder angleθs of the slave shaft is calculated from the turning center coordinates (Xo and Yo). The master shaft and the slave shaft are respectively subjected to simultaneous direction change on the basis of the target rudder anglesθm andθs. The traveling wheels and the real rudder angelsθj are detected, and a rudder angle command value is obtained so as to make the real rudder angelsθj coincide with the target rudder anglesθm andθs to respectively control the master shaft and the slave shaft steering.</p> |
